2025-08-21T06:39:45.370Z,1755758385.370 [lineCaptureHoming:BA.Execute](INFO): Executing command restart logs
2025-08-21T06:39:45.370Z,1755758385.370 [lineCaptureHoming:BA.Execute] Stopped
2025-08-21T06:39:45.370Z,1755758385.370 [lineCaptureHoming:InitialDive] Running Loop=1
2025-08-21T06:39:45.370Z,1755758385.370 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::initialize lineCaptureHoming:InitialDive
2025-08-21T06:39:45.370Z,1755758385.370 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-21T06:39:45.370Z,1755758385.370 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize.
2025-08-21T06:39:45.371Z,1755758385.371 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-21T06:39:45.371Z,1755758385.371 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-08-21T06:39:45.371Z,1755758385.371 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-08-21T06:39:45.371Z,1755758385.371 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-08-21T06:39:45.381Z,1755758385.381 [CommandExec](IMPORTANT): got command restart logs
2025-08-21T06:39:45.786Z,1755758385.786 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-21T06:39:45.787Z,1755758385.787 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-21T06:39:53.640Z,1755758393.640 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:40:04.983Z,1755758404.983 [ThrusterHE](FAULT): getSpeed error serial timeout
2025-08-21T06:40:04.984Z,1755758404.984 [ThrusterHE](FAULT): Thruster uart error: serial timeout
2025-08-21T06:40:04.984Z,1755758404.984 [ThrusterHE] Communications Fault, FailCount= 1
2025-08-21T06:40:04.984Z,1755758404.984 [ThrusterHE](ERROR): Communications Fault
2025-08-21T06:40:04.992Z,1755758404.992 [CBIT](ERROR): Communications Fault in component: ThrusterHE
2025-08-21T06:40:05.389Z,1755758405.389 [ThrusterHE](DEBUG): Uninitialize Thruster Servo.
2025-08-21T06:40:05.389Z,1755758405.389 [ThrusterHE](INFO): Powering down
2025-08-21T06:40:06.121Z,1755758406.121 [ThrusterHE](DEBUG): Initializing EZServoServo.
2025-08-21T06:40:06.241Z,1755758406.241 [ThrusterHE](DEBUG): Initializing ThrusterHE.
2025-08-21T06:40:06.245Z,1755758406.245 [CBIT](INFO): Clearing failed state for component ThrusterHE
2025-08-21T06:40:06.245Z,1755758406.245 [ThrusterHE] No Fault, FailCount= 1
2025-08-21T06:40:07.093Z,1755758407.093 [NAL9602](INFO): SBD MO Status=2, MOMSN=939, MT Status=2, MTMSN=0
2025-08-21T06:40:07.094Z,1755758407.094 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2025-08-21T06:40:08.084Z,1755758408.084 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:40:11.653Z,1755758411.653 [ThrusterHE](ERROR): Zero Speed Commanded.
2025-08-21T06:40:17.736Z,1755758417.736 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:40:22.871Z,1755758422.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:40:23.020Z,1755758423.020 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:40:23.020Z,1755758423.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:40:23.272Z,1755758423.272 [DAT](INFO): DAT read: user:1831>

2025-08-21T06:40:23.273Z,1755758423.273 [DAT](INFO): DAT read: Tx time:06:40:22.4747

2025-08-21T06:40:23.273Z,1755758423.273 [DAT](INFO): Ping request sent.
2025-08-21T06:40:23.273Z,1755758423.273 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:40:23.274Z,1755758423.274 [DAT](INFO): publishing transmit ping time
2025-08-21T06:40:23.274Z,1755758423.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-21T06:40:23.525Z,1755758423.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251257
2025-08-21T06:40:23.776Z,1755758423.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502933
2025-08-21T06:40:24.028Z,1755758424.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754845
2025-08-21T06:40:24.280Z,1755758424.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007087
2025-08-21T06:40:24.533Z,1755758424.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259727
2025-08-21T06:40:24.784Z,1755758424.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510775
2025-08-21T06:40:25.037Z,1755758425.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763540
2025-08-21T06:40:25.288Z,1755758425.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014907
2025-08-21T06:40:25.541Z,1755758425.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267146
2025-08-21T06:40:25.793Z,1755758425.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519334
2025-08-21T06:40:26.045Z,1755758426.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771175
2025-08-21T06:40:26.296Z,1755758426.296 [DAT](INFO): DAT read: Rx Time:06:40:25.0717

2025-08-21T06:40:26.297Z,1755758426.297 [DAT](INFO): Rx dataTimestamp_ set to:1755758426.296458
2025-08-21T06:40:26.297Z,1755758426.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023902
2025-08-21T06:40:26.549Z,1755758426.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275775
2025-08-21T06:40:26.806Z,1755758426.806 [DAT](INFO): DAT read: 06:40:25.0717 LVL= 32752, 32753, 24290, 32691, AGC= 62, IDX= 499,-0.02, 0.201, 0.084, 1.618, 0.551, PHS=-0.248,-0.423, 1.023, RAW= 203.7,  -5.2, CAL= 203.3,  -7.8, ROT= 306.7,   7.8

2025-08-21T06:40:26.807Z,1755758426.807 [DAT](INFO): got valid direction response:
 06:40:25.0717 LVL= 32752, 32753, 24290, 32691, AGC= 62, IDX= 499,-0.02, 0.201, 0.084, 1.618, 0.551, PHS=-0.248,-0.423, 1.023, RAW= 203.7,  -5.2, CAL= 203.3,  -7.8, ROT= 306.7,   7.8

2025-08-21T06:40:26.808Z,1755758426.808 [DAT](INFO): DAT read: Bearing   1.4, -50.2 (Local)

2025-08-21T06:40:26.808Z,1755758426.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.4, -50.2 (Local)

2025-08-21T06:40:26.809Z,1755758426.809 [DAT](INFO): DAT read: Range 11 to 50 : 144.6 m  (Round-trip  192.9 ms) speed  0.3 m/s

2025-08-21T06:40:26.810Z,1755758426.810 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:40:26.811Z,1755758426.811 [DAT](INFO): direction in FSK: [0.592096,-0.794357,-0.135716]
2025-08-21T06:40:26.812Z,1755758426.812 [DAT](INFO): publishing direction and range info
2025-08-21T06:40:27.280Z,1755758427.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:40:32.615Z,1755758432.615 [NAL9602](INFO): SBD MO Status=0, MOMSN=939, MT Status=0, MTMSN=0
2025-08-21T06:40:32.615Z,1755758432.615 [NAL9602](INFO): No messages in MT queue
2025-08-21T06:40:36.840Z,1755758436.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:40:46.404Z,1755758446.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:40:55.253Z,1755758455.253 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 18.81 mm (1 active estimators).
2025-08-21T06:41:03.344Z,1755758463.344 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-21T06:41:17.700Z,1755758477.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:41:23.188Z,1755758483.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:41:23.292Z,1755758483.292 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:41:23.292Z,1755758483.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:41:23.544Z,1755758483.544 [DAT](INFO): DAT read: user:1832>

2025-08-21T06:41:23.545Z,1755758483.545 [DAT](INFO): DAT read: Tx time:06:41:22.7748

2025-08-21T06:41:23.545Z,1755758483.545 [DAT](INFO): Ping request sent.
2025-08-21T06:41:23.545Z,1755758483.545 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:41:23.546Z,1755758483.546 [DAT](INFO): publishing transmit ping time
2025-08-21T06:41:23.546Z,1755758483.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-08-21T06:41:23.796Z,1755758483.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250781
2025-08-21T06:41:24.049Z,1755758484.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503630
2025-08-21T06:41:24.300Z,1755758484.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754849
2025-08-21T06:41:24.552Z,1755758484.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006783
2025-08-21T06:41:24.805Z,1755758484.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259321
2025-08-21T06:41:25.057Z,1755758485.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511177
2025-08-21T06:41:25.308Z,1755758485.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762729
2025-08-21T06:41:25.560Z,1755758485.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014896
2025-08-21T06:41:25.812Z,1755758485.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266841
2025-08-21T06:41:26.064Z,1755758486.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518976
2025-08-21T06:41:26.318Z,1755758486.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772440
2025-08-21T06:41:26.568Z,1755758486.568 [DAT](INFO): DAT read: Rx Time:06:41:25.3645

2025-08-21T06:41:26.569Z,1755758486.569 [DAT](INFO): Rx dataTimestamp_ set to:1755758486.568345
2025-08-21T06:41:26.569Z,1755758486.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023788
2025-08-21T06:41:26.820Z,1755758486.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274863
2025-08-21T06:41:27.081Z,1755758487.081 [DAT](INFO): DAT read: 06:41:25.3645 LVL= 32752, 32753, 23378, 32755, AGC= 61, IDX= 361, 0.27,-1.319,-1.717, 0.492,-0.591, PHS=-0.625,-1.081, 1.039, RAW= 198.2,   7.0, CAL= 198.5,   7.0, ROT= 311.5,  -7.0

2025-08-21T06:41:27.082Z,1755758487.082 [DAT](INFO): got valid direction response:
 06:41:25.3645 LVL= 32752, 32753, 23378, 32755, AGC= 61, IDX= 361, 0.27,-1.319,-1.717, 0.492,-0.591, PHS=-0.625,-1.081, 1.039, RAW= 198.2,   7.0, CAL= 198.5,   7.0, ROT= 311.5,  -7.0

2025-08-21T06:41:27.084Z,1755758487.084 [DAT](INFO): DAT read: Bearing  24.9,  -4.6 (Local)

2025-08-21T06:41:27.085Z,1755758487.085 [DAT](INFO): Local bearing/azimuth received:
 Bearing  24.9,  -4.6 (Local)

2025-08-21T06:41:27.086Z,1755758487.086 [DAT](INFO): DAT read: Range 11 to 50 : 139.2 m  (Round-trip  185.6 ms) speed  0.0 m/s

2025-08-21T06:41:27.087Z,1755758487.087 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:41:27.088Z,1755758487.088 [DAT](INFO): direction in FSK: [0.657681,-0.743373,0.121869]
2025-08-21T06:41:27.088Z,1755758487.088 [DAT](INFO): publishing direction and range info
2025-08-21T06:41:45.828Z,1755758505.828 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.427773
2025-08-21T06:41:46.208Z,1755758506.208 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T06:41:46.209Z,1755758506.209 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-21T06:41:46.209Z,1755758506.209 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-21T06:41:46.209Z,1755758506.209 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T06:41:46.209Z,1755758506.209 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-21T06:41:46.832Z,1755758506.832 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:41:55.572Z,1755758515.572 [Radio_Surface](INFO): Powering down
2025-08-21T06:42:16.961Z,1755758536.961 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:42:17.709Z,1755758537.709 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-21T06:42:17.964Z,1755758537.964 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-21T06:42:17.964Z,1755758537.964 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:42:23.374Z,1755758543.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:42:23.544Z,1755758543.544 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:42:23.544Z,1755758543.544 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:42:23.796Z,1755758543.796 [DAT](INFO): DAT read: user:1833>

2025-08-21T06:42:23.797Z,1755758543.797 [DAT](INFO): DAT read: Tx time:06:42:23.0249

2025-08-21T06:42:23.797Z,1755758543.797 [DAT](INFO): Ping request sent.
2025-08-21T06:42:23.797Z,1755758543.797 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:42:23.798Z,1755758543.798 [DAT](INFO): publishing transmit ping time
2025-08-21T06:42:23.798Z,1755758543.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-08-21T06:42:24.048Z,1755758544.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250772
2025-08-21T06:42:24.300Z,1755758544.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502802
2025-08-21T06:42:24.552Z,1755758544.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754770
2025-08-21T06:42:24.808Z,1755758544.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010175
2025-08-21T06:42:25.056Z,1755758545.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259023
2025-08-21T06:42:25.308Z,1755758545.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510724
2025-08-21T06:42:25.560Z,1755758545.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763082
2025-08-21T06:42:25.815Z,1755758545.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017297
2025-08-21T06:42:26.064Z,1755758546.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266925
2025-08-21T06:42:26.317Z,1755758546.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519495
2025-08-21T06:42:26.568Z,1755758546.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770841
2025-08-21T06:42:26.823Z,1755758546.823 [DAT](INFO): DAT read: Rx Time:06:42:25.6509

2025-08-21T06:42:26.824Z,1755758546.824 [DAT](INFO): Rx dataTimestamp_ set to:1755758546.823105
2025-08-21T06:42:26.826Z,1755758546.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027885
2025-08-21T06:42:27.072Z,1755758547.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274889
2025-08-21T06:42:27.327Z,1755758547.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528843
2025-08-21T06:42:27.586Z,1755758547.586 [DAT](INFO): DAT read: 06:42:25.6509 LVL= 17680, 13249, 15474, 15443, AGC= 61, IDX= 301, 0.16,-0.481, 1.268, 1.029, 0.386, PHS=-0.765, 0.927, 0.599, RAW= 280.5,  -9.8, CAL= 280.6, -15.3, ROT= 229.4,  15.3

2025-08-21T06:42:27.587Z,1755758547.587 [DAT](INFO): got valid direction response:
 06:42:25.6509 LVL= 17680, 13249, 15474, 15443, AGC= 61, IDX= 301, 0.16,-0.481, 1.268, 1.029, 0.386, PHS=-0.765, 0.927, 0.599, RAW= 280.5,  -9.8, CAL= 280.6, -15.3, ROT= 229.4,  15.3

2025-08-21T06:42:27.592Z,1755758547.592 [DAT](INFO): DAT read: Bearing 310.1, -75.9 (Local)

2025-08-21T06:42:27.593Z,1755758547.593 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.1, -75.9 (Local)

2025-08-21T06:42:27.594Z,1755758547.594 [DAT](INFO): DAT read: Range 11 to 50 : 166.4 m  (Round-trip  221.9 ms) speed -0.3 m/s

2025-08-21T06:42:27.595Z,1755758547.595 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:42:27.596Z,1755758547.596 [DAT](INFO): direction in FSK: [-0.627709,-0.732361,-0.263873]
2025-08-21T06:42:27.596Z,1755758547.596 [DAT](INFO): publishing direction and range info
2025-08-21T06:42:33.073Z,1755758553.073 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022610295158,35.0, +140,1503.6,  0
2025-08-21T06:42:34.120Z,1755758554.120 [CTD_Seabird](ERROR): Failed to parse device response: .46
2025-08-21T06:42:48.084Z,1755758568.084 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:42:49.090Z,1755758569.090 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:42:53.759Z,1755758573.759 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-08-21T06:42:53.760Z,1755758573.760 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-08-21T06:42:53.760Z,1755758573.760 [lineCaptureHoming:InitialDive] Stopped
2025-08-21T06:42:53.760Z,1755758573.760 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-08-21T06:42:53.760Z,1755758573.760 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-08-21T06:42:53.760Z,1755758573.760 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-08-21T06:42:53.760Z,1755758573.760 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-08-21T06:42:53.760Z,1755758573.760 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-08-21T06:42:53.760Z,1755758573.760 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-08-21T06:42:53.760Z,1755758573.760 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-08-21T06:42:53.761Z,1755758573.761 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-08-21T06:42:54.181Z,1755758574.181 [lineCaptureHoming:RepeatHack] Stopped
2025-08-21T06:42:54.182Z,1755758574.182 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-08-21T06:42:54.182Z,1755758574.182 [lineCaptureHoming:RepeatHack:A] Stopped
2025-08-21T06:42:54.182Z,1755758574.182 [lineCaptureHoming:Lap] Running Loop=1
2025-08-21T06:42:54.182Z,1755758574.182 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-08-21T06:42:54.183Z,1755758574.183 [lineCaptureHoming:Lap:A] Running Loop=1
2025-08-21T06:42:54.599Z,1755758574.599 [lineCaptureHoming:Lap:A] Stopped
2025-08-21T06:42:54.599Z,1755758574.599 [lineCaptureHoming:Lap:B] Running Loop=1
2025-08-21T06:42:54.601Z,1755758574.601 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-08-21T06:42:54.970Z,1755758574.970 [lineCaptureHoming:LineCapture] Running Loop=1
2025-08-21T06:42:54.970Z,1755758574.970 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-08-21T06:42:54.970Z,1755758574.970 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-21T06:42:54.970Z,1755758574.970 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-21T06:42:54.970Z,1755758574.970 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-21T06:42:54.970Z,1755758574.970 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-21T06:42:54.971Z,1755758574.971 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-21T06:42:54.971Z,1755758574.971 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-21T06:42:54.971Z,1755758574.971 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-21T06:42:54.971Z,1755758574.971 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-21T06:42:54.971Z,1755758574.971 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-21T06:42:54.971Z,1755758574.971 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-21T06:42:54.971Z,1755758574.971 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-21T06:42:54.971Z,1755758574.971 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-08-21T06:42:54.971Z,1755758574.971 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-21T06:42:54.971Z,1755758574.971 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-21T06:42:54.972Z,1755758574.972 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-08-21T06:42:54.972Z,1755758574.972 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-21T06:42:54.972Z,1755758574.972 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-21T06:42:54.972Z,1755758574.972 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-21T06:42:54.972Z,1755758574.972 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-21T06:42:54.972Z,1755758574.972 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-08-21T06:42:54.973Z,1755758574.973 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-21T06:42:54.973Z,1755758574.973 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-21T06:42:54.973Z,1755758574.973 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-21T06:42:54.973Z,1755758574.973 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-21T06:42:54.973Z,1755758574.973 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-21T06:42:54.973Z,1755758574.973 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-21T06:42:54.974Z,1755758574.974 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-21T06:42:54.974Z,1755758574.974 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-21T06:42:54.974Z,1755758574.974 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-21T06:42:54.974Z,1755758574.974 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-21T06:42:54.975Z,1755758574.975 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-21T06:42:54.975Z,1755758574.975 [lineCaptureHoming:LineCapture:A] Stopped
2025-08-21T06:42:54.975Z,1755758574.975 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-08-21T06:42:55.405Z,1755758575.405 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-21T06:42:55.405Z,1755758575.405 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-21T06:42:55.406Z,1755758575.406 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-21T06:42:55.407Z,1755758575.407 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 166.399994 m (mode  0.000000 count ).
2025-08-21T06:42:55.407Z,1755758575.407 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-21T06:42:55.423Z,1755758575.423 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-21T06:42:55.426Z,1755758575.426 [lineCaptureHoming:LineCapture:B] Stopped
2025-08-21T06:42:55.426Z,1755758575.426 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-08-21T06:42:55.789Z,1755758575.789 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-21T06:42:55.789Z,1755758575.789 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-21T06:42:55.790Z,1755758575.790 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:42:55.792Z,1755758575.792 [lineCaptureHoming:LineCapture:D] Stopped
2025-08-21T06:42:55.792Z,1755758575.792 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-08-21T06:42:55.805Z,1755758575.805 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:42:55.805Z,1755758575.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:42:56.056Z,1755758576.056 [DAT](INFO): DAT read: user:1834>

2025-08-21T06:42:56.057Z,1755758576.057 [DAT](INFO): DAT read: Tx time:06:42:55.2749

2025-08-21T06:42:56.057Z,1755758576.057 [DAT](INFO): Ping request sent.
2025-08-21T06:42:56.057Z,1755758576.057 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:42:56.058Z,1755758576.058 [DAT](INFO): publishing transmit ping time
2025-08-21T06:42:56.058Z,1755758576.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-21T06:42:56.207Z,1755758576.207 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-21T06:42:56.207Z,1755758576.207 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-21T06:42:56.213Z,1755758576.213 [lineCaptureHoming:LineCapture:E] Stopped
2025-08-21T06:42:56.213Z,1755758576.213 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-08-21T06:42:56.308Z,1755758576.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250828
2025-08-21T06:42:56.560Z,1755758576.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502734
2025-08-21T06:42:56.624Z,1755758576.624 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-21T06:42:56.624Z,1755758576.624 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-21T06:42:56.624Z,1755758576.624 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-21T06:42:56.624Z,1755758576.624 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-21T06:42:56.626Z,1755758576.626 [lineCaptureHoming:LineCapture:F] Stopped
2025-08-21T06:42:56.627Z,1755758576.627 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-08-21T06:42:56.627Z,1755758576.627 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-21T06:42:56.627Z,1755758576.627 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-21T06:42:56.627Z,1755758576.627 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-21T06:42:56.631Z,1755758576.631 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-08-21T06:42:56.631Z,1755758576.631 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-21T06:42:56.632Z,1755758576.632 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-08-21T06:42:56.632Z,1755758576.632 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-21T06:42:56.632Z,1755758576.632 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T06:42:56.632Z,1755758576.632 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-21T06:42:56.632Z,1755758576.632 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-21T06:42:56.632Z,1755758576.632 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-21T06:42:56.632Z,1755758576.632 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-21T06:42:56.633Z,1755758576.633 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-21T06:42:56.633Z,1755758576.633 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-21T06:42:56.633Z,1755758576.633 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-21T06:42:56.633Z,1755758576.633 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-21T06:42:56.633Z,1755758576.633 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-21T06:42:56.633Z,1755758576.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-21T06:42:56.634Z,1755758576.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-21T06:42:56.634Z,1755758576.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-21T06:42:56.634Z,1755758576.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-21T06:42:56.634Z,1755758576.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-21T06:42:56.634Z,1755758576.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-21T06:42:56.634Z,1755758576.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-21T06:42:56.634Z,1755758576.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-21T06:42:56.634Z,1755758576.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-21T06:42:56.634Z,1755758576.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-21T06:42:56.635Z,1755758576.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-21T06:42:56.635Z,1755758576.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-21T06:42:56.635Z,1755758576.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-21T06:42:56.635Z,1755758576.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-21T06:42:56.639Z,1755758576.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-21T06:42:56.817Z,1755758576.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758255
2025-08-21T06:42:57.001Z,1755758577.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-21T06:42:57.002Z,1755758577.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-21T06:42:57.003Z,1755758577.003 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-21T06:42:57.003Z,1755758577.003 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-21T06:42:57.003Z,1755758577.003 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-21T06:42:57.003Z,1755758577.003 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-21T06:42:57.003Z,1755758577.003 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-21T06:42:57.003Z,1755758577.003 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-21T06:42:57.003Z,1755758577.003 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-21T06:42:57.003Z,1755758577.003 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-21T06:42:57.003Z,1755758577.003 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-21T06:42:57.004Z,1755758577.004 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-21T06:42:57.004Z,1755758577.004 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T06:42:57.005Z,1755758577.005 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.571205 m.
2025-08-21T06:42:57.064Z,1755758577.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006818
2025-08-21T06:42:57.316Z,1755758577.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258668
2025-08-21T06:42:57.568Z,1755758577.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510700
2025-08-21T06:42:57.801Z,1755758577.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:42:57.820Z,1755758577.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762736
2025-08-21T06:42:57.872Z,1755758577.872 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-21T06:42:57.992Z,1755758577.992 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-21T06:42:58.073Z,1755758578.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014964
2025-08-21T06:42:58.327Z,1755758578.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268599
2025-08-21T06:42:58.576Z,1755758578.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518525
2025-08-21T06:42:58.828Z,1755758578.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770668
2025-08-21T06:42:59.080Z,1755758579.080 [DAT](INFO): DAT read: Rx Time:06:42:57.8954

2025-08-21T06:42:59.081Z,1755758579.081 [DAT](INFO): Rx dataTimestamp_ set to:1755758579.080486
2025-08-21T06:42:59.081Z,1755758579.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023787
2025-08-21T06:42:59.335Z,1755758579.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276691
2025-08-21T06:42:59.587Z,1755758579.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528800
2025-08-21T06:42:59.825Z,1755758579.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:42:59.853Z,1755758579.853 [DAT](INFO): DAT read: 06:42:57.8954 LVL= 31840, 21441, 26706, 32243, AGC= 67, IDX= 372,-0.33,-2.488,-0.912,-1.456,-1.933, PHS=-0.453, 1.067, 0.433, RAW= 294.5, -15.6, CAL= 296.0, -20.6, ROT= 214.0,  20.6

2025-08-21T06:42:59.854Z,1755758579.854 [DAT](INFO): got valid direction response:
 06:42:57.8954 LVL= 31840, 21441, 26706, 32243, AGC= 67, IDX= 372,-0.33,-2.488,-0.912,-1.456,-1.933, PHS=-0.453, 1.067, 0.433, RAW= 294.5, -15.6, CAL= 296.0, -20.6, ROT= 214.0,  20.6

2025-08-21T06:42:59.855Z,1755758579.855 [DAT](INFO): DAT read: Bearing 290.3, -39.9 (Local)

2025-08-21T06:42:59.856Z,1755758579.856 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.3, -39.9 (Local)

2025-08-21T06:42:59.857Z,1755758579.857 [DAT](INFO): DAT read: Range 11 to 50 : 162.3 m  (Round-trip  216.4 ms) speed -0.6 m/s

2025-08-21T06:42:59.858Z,1755758579.858 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:42:59.859Z,1755758579.859 [DAT](INFO): direction in FSK: [-0.776028,-0.523438,-0.351842]
2025-08-21T06:42:59.871Z,1755758579.871 [DAT](INFO): publishing direction and range info
2025-08-21T06:42:59.885Z,1755758579.885 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:42:59.885Z,1755758579.885 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:42:59.885Z,1755758579.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:00.088Z,1755758580.088 [DAT](INFO): DAT read: user:1835>

2025-08-21T06:43:00.089Z,1755758580.089 [DAT](INFO): DAT read: Tx time:06:42:59.3249

2025-08-21T06:43:00.089Z,1755758580.089 [DAT](INFO): Ping request sent.
2025-08-21T06:43:00.089Z,1755758580.089 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:00.089Z,1755758580.089 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:00.090Z,1755758580.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-21T06:43:00.343Z,1755758580.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253020
2025-08-21T06:43:00.592Z,1755758580.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502959
2025-08-21T06:43:00.844Z,1755758580.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754925
2025-08-21T06:43:01.096Z,1755758581.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006873
2025-08-21T06:43:01.351Z,1755758581.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261158
2025-08-21T06:43:01.538Z,1755758581.538 [DockingStepper](INFO): Changing to mode: 3
2025-08-21T06:43:01.601Z,1755758581.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512137
2025-08-21T06:43:01.849Z,1755758581.849 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:01.852Z,1755758581.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763046
2025-08-21T06:43:02.104Z,1755758582.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014988
2025-08-21T06:43:02.366Z,1755758582.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273705
2025-08-21T06:43:02.612Z,1755758582.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522915
2025-08-21T06:43:02.864Z,1755758582.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774984
2025-08-21T06:43:03.118Z,1755758583.118 [DAT](INFO): DAT read: Rx Time:06:43:01.9474

2025-08-21T06:43:03.118Z,1755758583.118 [DAT](INFO): Rx dataTimestamp_ set to:1755758583.117977
2025-08-21T06:43:03.119Z,1755758583.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029535
2025-08-21T06:43:03.371Z,1755758583.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281631
2025-08-21T06:43:03.625Z,1755758583.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535236
2025-08-21T06:43:03.866Z,1755758583.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:03.878Z,1755758583.878 [DAT](INFO): DAT read: 06:43:01.9474 LVL= 26864, 22097, 26866, 31859, AGC= 65, IDX= 440, 0.17, 3.066,-1.533,-1.970,-2.767, PHS=-0.348, 1.280, 0.753, RAW= 288.5, -22.5, CAL= 288.1, -27.2, ROT= 221.9,  27.2

2025-08-21T06:43:03.879Z,1755758583.879 [DAT](INFO): got valid direction response:
 06:43:01.9474 LVL= 26864, 22097, 26866, 31859, AGC= 65, IDX= 440, 0.17, 3.066,-1.533,-1.970,-2.767, PHS=-0.348, 1.280, 0.753, RAW= 288.5, -22.5, CAL= 288.1, -27.2, ROT= 221.9,  27.2

2025-08-21T06:43:03.888Z,1755758583.888 [DAT](INFO): DAT read: Bearing 300.9, -41.5 (Local)

2025-08-21T06:43:03.888Z,1755758583.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.9, -41.5 (Local)

2025-08-21T06:43:03.889Z,1755758583.889 [DAT](INFO): DAT read: Range 11 to 50 : 163.8 m  (Round-trip  218.4 ms) speed -0.4 m/s

2025-08-21T06:43:03.890Z,1755758583.890 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:43:03.891Z,1755758583.891 [DAT](INFO): direction in FSK: [-0.662003,-0.593981,-0.457098]
2025-08-21T06:43:03.891Z,1755758583.891 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:03.895Z,1755758583.895 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:03.895Z,1755758583.895 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:03.911Z,1755758583.911 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:04.124Z,1755758584.124 [DAT](INFO): DAT read: user:1836>

2025-08-21T06:43:04.125Z,1755758584.125 [DAT](INFO): DAT read: Tx time:06:43:03.3749

2025-08-21T06:43:04.125Z,1755758584.125 [DAT](INFO): Ping request sent.
2025-08-21T06:43:04.126Z,1755758584.126 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:04.126Z,1755758584.126 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:04.126Z,1755758584.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-08-21T06:43:04.380Z,1755758584.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254089
2025-08-21T06:43:04.628Z,1755758584.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502496
2025-08-21T06:43:04.880Z,1755758584.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754637
2025-08-21T06:43:05.132Z,1755758585.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006802
2025-08-21T06:43:05.387Z,1755758585.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260488
2025-08-21T06:43:05.638Z,1755758585.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511770
2025-08-21T06:43:05.888Z,1755758585.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762649
2025-08-21T06:43:05.898Z,1755758585.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:06.141Z,1755758586.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015376
2025-08-21T06:43:06.396Z,1755758586.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269213
2025-08-21T06:43:06.645Z,1755758586.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519323
2025-08-21T06:43:06.896Z,1755758586.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770637
2025-08-21T06:43:07.149Z,1755758587.149 [DAT](INFO): DAT read: Rx Time:06:43:05.9999

2025-08-21T06:43:07.150Z,1755758587.150 [DAT](INFO): Rx dataTimestamp_ set to:1755758587.149652
2025-08-21T06:43:07.151Z,1755758587.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025462
2025-08-21T06:43:07.403Z,1755758587.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277178
2025-08-21T06:43:07.532Z,1755758587.532 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-21T06:43:07.653Z,1755758587.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527436
2025-08-21T06:43:07.910Z,1755758587.910 [DAT](INFO): DAT read: 06:43:05.9999 LVL= 32704, 30001, 32754, 27379, AGC= 63, IDX= 451, 0.21, 2.349,-1.896,-2.750,-2.650, PHS=-1.182, 0.799,-0.144, RAW= 298.4,   6.2, CAL= 296.1,   4.4, ROT= 213.9,  -4.4

2025-08-21T06:43:07.914Z,1755758587.914 [DAT](INFO): got valid direction response:
 06:43:05.9999 LVL= 32704, 30001, 32754, 27379, AGC= 63, IDX= 451, 0.21, 2.349,-1.896,-2.750,-2.650, PHS=-1.182, 0.799,-0.144, RAW= 298.4,   6.2, CAL= 296.1,   4.4, ROT= 213.9,  -4.4

2025-08-21T06:43:07.915Z,1755758587.915 [DAT](INFO): DAT read: Bearing 262.0, -30.8 (Local)

2025-08-21T06:43:07.916Z,1755758587.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.0, -30.8 (Local)

2025-08-21T06:43:07.917Z,1755758587.917 [DAT](INFO): DAT read: Range 11 to 50 : 165.6 m  (Round-trip  220.9 ms) speed -0.2 m/s

2025-08-21T06:43:07.918Z,1755758587.918 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:43:07.919Z,1755758587.919 [DAT](INFO): direction in FSK: [-0.827566,-0.556101,0.076719]
2025-08-21T06:43:07.920Z,1755758587.920 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:07.954Z,1755758587.954 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:07.954Z,1755758587.954 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:07.954Z,1755758587.954 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:08.157Z,1755758588.157 [DAT](INFO): DAT read: user:1837>

2025-08-21T06:43:08.158Z,1755758588.158 [DAT](INFO): DAT read: Tx time:06:43:07.4248

2025-08-21T06:43:08.159Z,1755758588.159 [DAT](INFO): Ping request sent.
2025-08-21T06:43:08.159Z,1755758588.159 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:08.159Z,1755758588.159 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:08.160Z,1755758588.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001638
2025-08-21T06:43:08.326Z,1755758588.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:08.409Z,1755758588.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249922
2025-08-21T06:43:08.661Z,1755758588.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501987
2025-08-21T06:43:08.912Z,1755758588.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753561
2025-08-21T06:43:09.165Z,1755758589.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005986
2025-08-21T06:43:09.416Z,1755758589.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257511
2025-08-21T06:43:09.668Z,1755758589.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509588
2025-08-21T06:43:09.920Z,1755758589.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761579
2025-08-21T06:43:10.173Z,1755758590.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013924
2025-08-21T06:43:10.424Z,1755758590.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265577
2025-08-21T06:43:10.676Z,1755758590.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517478
2025-08-21T06:43:10.755Z,1755758590.755 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:10.928Z,1755758590.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769505
2025-08-21T06:43:11.181Z,1755758591.181 [DAT](INFO): DAT read: Rx Time:06:43:10.0517

2025-08-21T06:43:11.181Z,1755758591.181 [DAT](INFO): Rx dataTimestamp_ set to:1755758591.181014
2025-08-21T06:43:11.182Z,1755758591.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023146
2025-08-21T06:43:11.433Z,1755758591.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273473
2025-08-21T06:43:11.684Z,1755758591.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525751
2025-08-21T06:43:11.942Z,1755758591.942 [DAT](INFO): DAT read: 06:43:10.0517 LVL= 32752, 22817, 32450, 32755, AGC= 64, IDX= 439,-0.32,-1.463, 0.732,-0.410,-0.032, PHS=-1.329, 0.809,-0.422, RAW= 305.0,  10.2, CAL= 302.7,  12.6, ROT= 207.3, -12.6

2025-08-21T06:43:11.943Z,1755758591.943 [DAT](INFO): got valid direction response:
 06:43:10.0517 LVL= 32752, 22817, 32450, 32755, AGC= 64, IDX= 439,-0.32,-1.463, 0.732,-0.410,-0.032, PHS=-1.329, 0.809,-0.422, RAW= 305.0,  10.2, CAL= 302.7,  12.6, ROT= 207.3, -12.6

2025-08-21T06:43:11.947Z,1755758591.947 [DAT](INFO): DAT read: Bearing 256.5, -19.6 (Local)

2025-08-21T06:43:11.947Z,1755758591.947 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.5, -19.6 (Local)

2025-08-21T06:43:11.949Z,1755758591.949 [DAT](INFO): DAT read: Range 11 to 50 : 167.1 m  (Round-trip  222.8 ms) speed -0.3 m/s

2025-08-21T06:43:11.950Z,1755758591.950 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:43:11.951Z,1755758591.951 [DAT](INFO): direction in FSK: [-0.867216,-0.447604,0.218143]
2025-08-21T06:43:11.951Z,1755758591.951 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:11.954Z,1755758591.954 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:11.954Z,1755758591.954 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:11.955Z,1755758591.955 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:12.188Z,1755758592.188 [DAT](INFO): DAT read: user:1838>

2025-08-21T06:43:12.189Z,1755758592.189 [DAT](INFO): DAT read: Tx time:06:43:11.4248

2025-08-21T06:43:12.189Z,1755758592.189 [DAT](INFO): Ping request sent.
2025-08-21T06:43:12.189Z,1755758592.189 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:12.189Z,1755758592.189 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:12.190Z,1755758592.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-21T06:43:12.441Z,1755758592.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251509
2025-08-21T06:43:12.692Z,1755758592.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502987
2025-08-21T06:43:12.778Z,1755758592.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:12.944Z,1755758592.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754977
2025-08-21T06:43:13.196Z,1755758593.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006973
2025-08-21T06:43:13.448Z,1755758593.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258969
2025-08-21T06:43:13.701Z,1755758593.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511508
2025-08-21T06:43:13.952Z,1755758593.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762928
2025-08-21T06:43:14.204Z,1755758594.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014991
2025-08-21T06:43:14.456Z,1755758594.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267202
2025-08-21T06:43:14.708Z,1755758594.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519181
2025-08-21T06:43:14.805Z,1755758594.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:14.960Z,1755758594.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770973
2025-08-21T06:43:15.212Z,1755758595.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023099
2025-08-21T06:43:15.464Z,1755758595.464 [DAT](INFO): DAT read: Rx Time:06:43:14.0822

2025-08-21T06:43:15.465Z,1755758595.465 [DAT](INFO): Rx dataTimestamp_ set to:1755758595.464375
2025-08-21T06:43:15.465Z,1755758595.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275929
2025-08-21T06:43:15.716Z,1755758595.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526962
2025-08-21T06:43:15.974Z,1755758595.974 [DAT](INFO): DAT read: 06:43:14.0822 LVL= 32368, 23649, 30962, 30451, AGC= 73, IDX= 222, 0.04, 0.346, 1.638, 1.209, 0.335, PHS= 0.114, 1.348, 0.830, RAW= 294.7, -37.0, CAL= 291.2, -40.5, ROT= 218.8,  40.5

2025-08-21T06:43:15.975Z,1755758595.975 [DAT](INFO): got valid direction response:
 06:43:14.0822 LVL= 32368, 23649, 30962, 30451, AGC= 73, IDX= 222, 0.04, 0.346, 1.638, 1.209, 0.335, PHS= 0.114, 1.348, 0.830, RAW= 294.7, -37.0, CAL= 291.2, -40.5, ROT= 218.8,  40.5

2025-08-21T06:43:15.978Z,1755758595.978 [DAT](INFO): DAT read: Bearing 316.4, -27.8 (Local)

2025-08-21T06:43:15.979Z,1755758595.979 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.4, -27.8 (Local)

2025-08-21T06:43:15.980Z,1755758595.980 [DAT](INFO): DAT read: Range 11 to 50 : 189.9 m  (Round-trip  253.3 ms) speed  0.0 m/s

2025-08-21T06:43:15.981Z,1755758595.981 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:43:15.982Z,1755758595.982 [DAT](INFO): direction in FSK: [-0.592613,-0.476473,-0.649448]
2025-08-21T06:43:15.982Z,1755758595.982 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:15.986Z,1755758595.986 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:15.986Z,1755758595.986 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:15.986Z,1755758595.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:16.220Z,1755758596.220 [DAT](INFO): DAT read: user:1839>

2025-08-21T06:43:16.221Z,1755758596.221 [DAT](INFO): DAT read: Tx time:06:43:15.4748

2025-08-21T06:43:16.221Z,1755758596.221 [DAT](INFO): Ping request sent.
2025-08-21T06:43:16.221Z,1755758596.221 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:16.222Z,1755758596.222 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:16.222Z,1755758596.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727
2025-08-21T06:43:16.473Z,1755758596.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251282
2025-08-21T06:43:16.724Z,1755758596.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502656
2025-08-21T06:43:16.809Z,1755758596.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:16.976Z,1755758596.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754949
2025-08-21T06:43:17.228Z,1755758597.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006873
2025-08-21T06:43:17.480Z,1755758597.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258653
2025-08-21T06:43:17.733Z,1755758597.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511032
2025-08-21T06:43:17.984Z,1755758597.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762690
2025-08-21T06:43:18.236Z,1755758598.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014666
2025-08-21T06:43:18.488Z,1755758598.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266680
2025-08-21T06:43:18.740Z,1755758598.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518741
2025-08-21T06:43:18.846Z,1755758598.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:18.992Z,1755758598.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770647
2025-08-21T06:43:19.232Z,1755758599.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:43:19.245Z,1755758599.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023252
2025-08-21T06:43:19.496Z,1755758599.496 [DAT](INFO): DAT read: Rx Time:06:43:18.1323

2025-08-21T06:43:19.497Z,1755758599.497 [DAT](INFO): Rx dataTimestamp_ set to:1755758599.496411
2025-08-21T06:43:19.497Z,1755758599.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275736
2025-08-21T06:43:19.749Z,1755758599.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527145
2025-08-21T06:43:20.006Z,1755758600.006 [DAT](INFO): DAT read: 06:43:18.1323 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 447,-0.19,-1.586,-0.102,-0.497,-1.620, PHS= 0.136, 1.564, 1.080, RAW= 289.5, -38.0, CAL= 285.9, -41.3, ROT= 224.1,  41.3

2025-08-21T06:43:20.007Z,1755758600.007 [DAT](INFO): got valid direction response:
 06:43:18.1323 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 447,-0.19,-1.586,-0.102,-0.497,-1.620, PHS= 0.136, 1.564, 1.080, RAW= 289.5, -38.0, CAL= 285.9, -41.3, ROT= 224.1,  41.3

2025-08-21T06:43:20.008Z,1755758600.008 [DAT](INFO): DAT read: Bearing 319.5, -30.2 (Local)

2025-08-21T06:43:20.008Z,1755758600.008 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.5, -30.2 (Local)

2025-08-21T06:43:20.009Z,1755758600.009 [DAT](INFO): DAT read: Range 11 to 50 : 190.0 m  (Round-trip  253.4 ms) speed -0.4 m/s

2025-08-21T06:43:20.010Z,1755758600.010 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:43:20.011Z,1755758600.011 [DAT](INFO): direction in FSK: [-0.539502,-0.522814,-0.660002]
2025-08-21T06:43:20.012Z,1755758600.012 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:20.015Z,1755758600.015 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:20.015Z,1755758600.015 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:20.015Z,1755758600.015 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:20.239Z,1755758600.239 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:43:20.252Z,1755758600.252 [DAT](INFO): DAT read: user:1840>

2025-08-21T06:43:20.253Z,1755758600.253 [DAT](INFO): DAT read: Tx time:06:43:19.4748

2025-08-21T06:43:20.253Z,1755758600.253 [DAT](INFO): Ping request sent.
2025-08-21T06:43:20.253Z,1755758600.253 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:20.253Z,1755758600.253 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:20.254Z,1755758600.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-21T06:43:20.504Z,1755758600.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250861
2025-08-21T06:43:20.756Z,1755758600.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502786
2025-08-21T06:43:20.857Z,1755758600.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:21.008Z,1755758601.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754881
2025-08-21T06:43:21.260Z,1755758601.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006956
2025-08-21T06:43:21.512Z,1755758601.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259102
2025-08-21T06:43:21.766Z,1755758601.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512743
2025-08-21T06:43:22.016Z,1755758602.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762889
2025-08-21T06:43:22.268Z,1755758602.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014805
2025-08-21T06:43:22.520Z,1755758602.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266906
2025-08-21T06:43:22.772Z,1755758602.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518829
2025-08-21T06:43:22.878Z,1755758602.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:23.024Z,1755758603.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771075
2025-08-21T06:43:23.278Z,1755758603.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024228
2025-08-21T06:43:23.528Z,1755758603.528 [DAT](INFO): DAT read: Rx Time:06:43:22.1340

2025-08-21T06:43:23.529Z,1755758603.529 [DAT](INFO): Rx dataTimestamp_ set to:1755758603.528401
2025-08-21T06:43:23.529Z,1755758603.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275881
2025-08-21T06:43:23.781Z,1755758603.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527659
2025-08-21T06:43:24.038Z,1755758604.038 [DAT](INFO): DAT read: 06:43:22.1340 LVL= 32752, 31345, 32754, 32755, AGC= 68, IDX= 448, 0.25,-0.936, 0.448,-0.017,-0.902, PHS= 0.068, 1.395, 0.841, RAW= 294.6, -35.2, CAL= 291.4, -38.8, ROT= 218.6,  38.8

2025-08-21T06:43:24.039Z,1755758604.039 [DAT](INFO): got valid direction response:
 06:43:22.1340 LVL= 32752, 31345, 32754, 32755, AGC= 68, IDX= 448, 0.25,-0.936, 0.448,-0.017,-0.902, PHS= 0.068, 1.395, 0.841, RAW= 294.6, -35.2, CAL= 291.4, -38.8, ROT= 218.6,  38.8

2025-08-21T06:43:24.040Z,1755758604.040 [DAT](INFO): DAT read: Bearing 316.3, -26.6 (Local)

2025-08-21T06:43:24.040Z,1755758604.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.3, -26.6 (Local)

2025-08-21T06:43:24.044Z,1755758604.044 [DAT](INFO): DAT read: Range 11 to 50 : 191.3 m  (Round-trip  255.1 ms) speed -0.1 m/s

2025-08-21T06:43:24.047Z,1755758604.047 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:43:24.060Z,1755758604.060 [DAT](INFO): direction in FSK: [-0.609069,-0.486213,-0.626604]
2025-08-21T06:43:24.061Z,1755758604.061 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:24.064Z,1755758604.064 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:24.064Z,1755758604.064 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:24.064Z,1755758604.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:24.285Z,1755758604.285 [DAT](INFO): DAT read: user:1841>

2025-08-21T06:43:24.286Z,1755758604.286 [DAT](INFO): DAT read: Tx time:06:43:23.5248

2025-08-21T06:43:24.286Z,1755758604.286 [DAT](INFO): Ping request sent.
2025-08-21T06:43:24.286Z,1755758604.286 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:24.287Z,1755758604.287 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:24.288Z,1755758604.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001317
2025-08-21T06:43:24.536Z,1755758604.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249687
2025-08-21T06:43:24.788Z,1755758604.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501848
2025-08-21T06:43:24.890Z,1755758604.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:25.040Z,1755758605.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753784
2025-08-21T06:43:25.293Z,1755758605.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006188
2025-08-21T06:43:25.544Z,1755758605.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257828
2025-08-21T06:43:25.796Z,1755758605.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509676
2025-08-21T06:43:26.050Z,1755758606.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763178
2025-08-21T06:43:26.300Z,1755758606.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013845
2025-08-21T06:43:26.553Z,1755758606.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266243
2025-08-21T06:43:26.804Z,1755758606.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517800
2025-08-21T06:43:26.951Z,1755758606.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:27.064Z,1755758607.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777587
2025-08-21T06:43:27.316Z,1755758607.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029867
2025-08-21T06:43:27.569Z,1755758607.569 [DAT](INFO): DAT read: Rx Time:06:43:26.1851

2025-08-21T06:43:27.569Z,1755758607.569 [DAT](INFO): Rx dataTimestamp_ set to:1755758607.568694
2025-08-21T06:43:27.570Z,1755758607.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283130
2025-08-21T06:43:27.769Z,1755758607.769 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 191.30 m. Transitioning docking module to standby.
2025-08-21T06:43:27.821Z,1755758607.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534652
2025-08-21T06:43:28.082Z,1755758608.082 [DAT](INFO): DAT read: 06:43:26.1851 LVL= 32752, 23921, 32754, 31971, AGC= 67, IDX= 443, 0.01,-1.296, 0.008,-0.390,-1.311, PHS= 0.117, 1.364, 0.877, RAW= 292.8, -37.4, CAL= 289.2, -40.9, ROT= 220.8,  40.9

2025-08-21T06:43:28.083Z,1755758608.083 [DAT](INFO): got valid direction response:
 06:43:26.1851 LVL= 32752, 23921, 32754, 31971, AGC= 67, IDX= 443, 0.01,-1.296, 0.008,-0.390,-1.311, PHS= 0.117, 1.364, 0.877, RAW= 292.8, -37.4, CAL= 289.2, -40.9, ROT= 220.8,  40.9

2025-08-21T06:43:28.085Z,1755758608.085 [DAT](INFO): DAT read: Bearing 319.0, -27.6 (Local)

2025-08-21T06:43:28.086Z,1755758608.086 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.0, -27.6 (Local)

2025-08-21T06:43:28.096Z,1755758608.096 [DAT](INFO): DAT read: Range 11 to 50 : 192.0 m  (Round-trip  256.1 ms) speed -0.1 m/s

2025-08-21T06:43:28.097Z,1755758608.097 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:43:28.099Z,1755758608.099 [DAT](INFO): direction in FSK: [-0.572177,-0.493890,-0.654741]
2025-08-21T06:43:28.100Z,1755758608.100 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:28.105Z,1755758608.105 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:28.105Z,1755758608.105 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:28.105Z,1755758608.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:28.308Z,1755758608.308 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T06:43:28.325Z,1755758608.325 [DAT](INFO): DAT read: user:1842>

2025-08-21T06:43:28.326Z,1755758608.326 [DAT](INFO): DAT read: Tx time:06:43:27.5749

2025-08-21T06:43:28.326Z,1755758608.326 [DAT](INFO): Ping request sent.
2025-08-21T06:43:28.326Z,1755758608.326 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:28.327Z,1755758608.327 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:28.328Z,1755758608.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001157
2025-08-21T06:43:28.578Z,1755758608.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251141
2025-08-21T06:43:28.828Z,1755758608.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501654
2025-08-21T06:43:29.081Z,1755758609.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754663
2025-08-21T06:43:29.318Z,1755758609.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:29.334Z,1755758609.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007756
2025-08-21T06:43:29.585Z,1755758609.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258384
2025-08-21T06:43:29.838Z,1755758609.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511228
2025-08-21T06:43:30.093Z,1755758610.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766531
2025-08-21T06:43:30.344Z,1755758610.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017687
2025-08-21T06:43:30.597Z,1755758610.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269975
2025-08-21T06:43:30.848Z,1755758610.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521733
2025-08-21T06:43:31.100Z,1755758611.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773668
2025-08-21T06:43:31.356Z,1755758611.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029878
2025-08-21T06:43:31.359Z,1755758611.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:31.608Z,1755758611.608 [DAT](INFO): DAT read: Rx Time:06:43:30.2366

2025-08-21T06:43:31.609Z,1755758611.609 [DAT](INFO): Rx dataTimestamp_ set to:1755758611.608616
2025-08-21T06:43:31.609Z,1755758611.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282929
2025-08-21T06:43:31.867Z,1755758611.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540245
2025-08-21T06:43:32.125Z,1755758612.125 [DAT](INFO): DAT read: 06:43:30.2366 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 444, 0.16,-2.670,-1.327,-1.771,-2.786, PHS= 0.218, 1.504, 0.972, RAW= 294.3, -40.4, CAL= 290.4, -43.5, ROT= 219.6,  43.5

2025-08-21T06:43:32.126Z,1755758612.126 [DAT](INFO): got valid direction response:
 06:43:30.2366 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 444, 0.16,-2.670,-1.327,-1.771,-2.786, PHS= 0.218, 1.504, 0.972, RAW= 294.3, -40.4, CAL= 290.4, -43.5, ROT= 219.6,  43.5

2025-08-21T06:43:32.126Z,1755758612.126 [DAT](INFO): DAT read: $Error in header

2025-08-21T06:43:32.127Z,1755758612.127 [DAT](INFO): Received a bad header
2025-08-21T06:43:32.139Z,1755758612.139 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T06:43:32.141Z,1755758612.141 [DAT](INFO): direction in FSK: [-0.558911,-0.462371,-0.688355]
2025-08-21T06:43:32.145Z,1755758612.145 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:32.145Z,1755758612.145 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:32.145Z,1755758612.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:32.368Z,1755758612.368 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:32.368Z,1755758612.368 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:32.368Z,1755758612.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:32.620Z,1755758612.620 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:32.620Z,1755758612.620 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:32.620Z,1755758612.620 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:32.872Z,1755758612.872 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:32.872Z,1755758612.872 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:32.872Z,1755758612.872 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:33.124Z,1755758613.124 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:33.124Z,1755758613.124 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:33.124Z,1755758613.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:33.378Z,1755758613.378 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:33.378Z,1755758613.378 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:33.378Z,1755758613.378 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:33.628Z,1755758613.628 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:33.628Z,1755758613.628 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:33.628Z,1755758613.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:33.776Z,1755758613.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:33.880Z,1755758613.880 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:33.880Z,1755758613.880 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:33.880Z,1755758613.880 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:34.132Z,1755758614.132 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:34.132Z,1755758614.132 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:34.132Z,1755758614.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:34.226Z,1755758614.226 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-08-21T06:43:34.384Z,1755758614.384 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:34.384Z,1755758614.384 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:34.384Z,1755758614.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:34.582Z,1755758614.582 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-08-21T06:43:34.583Z,1755758614.583 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-08-21T06:43:34.583Z,1755758614.583 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-08-21T06:43:34.636Z,1755758614.636 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:34.637Z,1755758614.637 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:34.637Z,1755758614.637 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:34.888Z,1755758614.888 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:34.888Z,1755758614.888 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:34.888Z,1755758614.888 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:34.992Z,1755758614.992 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-08-21T06:43:34.992Z,1755758614.992 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-08-21T06:43:34.992Z,1755758614.992 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-08-21T06:43:35.140Z,1755758615.140 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:35.141Z,1755758615.141 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:35.141Z,1755758615.141 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:35.383Z,1755758615.383 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-08-21T06:43:35.383Z,1755758615.383 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-21T06:43:35.383Z,1755758615.383 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-08-21T06:43:35.383Z,1755758615.383 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-21T06:43:35.387Z,1755758615.387 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-21T06:43:35.392Z,1755758615.392 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:35.392Z,1755758615.392 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:35.392Z,1755758615.392 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:35.644Z,1755758615.644 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:35.644Z,1755758615.644 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:35.644Z,1755758615.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:35.782Z,1755758615.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:35.784Z,1755758615.784 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-21T06:43:35.784Z,1755758615.784 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-21T06:43:35.784Z,1755758615.784 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-21T06:43:35.784Z,1755758615.784 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-21T06:43:35.784Z,1755758615.784 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-21T06:43:35.784Z,1755758615.784 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-21T06:43:35.784Z,1755758615.784 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-21T06:43:35.784Z,1755758615.784 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-21T06:43:35.785Z,1755758615.785 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-21T06:43:35.785Z,1755758615.785 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-21T06:43:35.785Z,1755758615.785 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-21T06:43:35.785Z,1755758615.785 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-21T06:43:35.786Z,1755758615.786 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-08-21T06:43:35.786Z,1755758615.786 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-21T06:43:35.786Z,1755758615.786 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-08-21T06:43:35.786Z,1755758615.786 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 192.000000 m 
2025-08-21T06:43:35.786Z,1755758615.786 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-08-21T06:43:35.787Z,1755758615.787 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-08-21T06:43:35.788Z,1755758615.788 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -122.859630 arcdeg )
2025-08-21T06:43:35.788Z,1755758615.788 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-21T06:43:35.788Z,1755758615.788 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-08-21T06:43:35.788Z,1755758615.788 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-08-21T06:43:35.789Z,1755758615.789 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-122.859630
2025-08-21T06:43:35.896Z,1755758615.896 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:35.896Z,1755758615.896 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:35.896Z,1755758615.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:36.149Z,1755758616.149 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:36.149Z,1755758616.149 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:36.149Z,1755758616.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:36.241Z,1755758616.241 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-122.859630
2025-08-21T06:43:36.243Z,1755758616.243 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-08-21T06:43:36.244Z,1755758616.244 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-21T06:43:36.244Z,1755758616.244 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-08-21T06:43:36.244Z,1755758616.244 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-21T06:43:36.255Z,1755758616.255 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-08-21T06:43:36.255Z,1755758616.255 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-21T06:43:36.400Z,1755758616.400 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:36.400Z,1755758616.400 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:36.400Z,1755758616.400 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:36.600Z,1755758616.600 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-21T06:43:36.600Z,1755758616.600 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-21T06:43:36.600Z,1755758616.600 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-21T06:43:36.602Z,1755758616.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-21T06:43:36.602Z,1755758616.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-21T06:43:36.602Z,1755758616.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-21T06:43:36.602Z,1755758616.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-21T06:43:36.602Z,1755758616.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-21T06:43:36.602Z,1755758616.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-21T06:43:36.602Z,1755758616.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-21T06:43:36.603Z,1755758616.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-21T06:43:36.603Z,1755758616.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-21T06:43:36.603Z,1755758616.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-21T06:43:36.603Z,1755758616.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-21T06:43:36.603Z,1755758616.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-21T06:43:36.603Z,1755758616.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-21T06:43:36.603Z,1755758616.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-21T06:43:36.604Z,1755758616.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-21T06:43:36.604Z,1755758616.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-21T06:43:36.604Z,1755758616.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-21T06:43:36.604Z,1755758616.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-21T06:43:36.605Z,1755758616.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-21T06:43:36.605Z,1755758616.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-21T06:43:36.605Z,1755758616.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-21T06:43:36.605Z,1755758616.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-21T06:43:36.605Z,1755758616.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-21T06:43:36.606Z,1755758616.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-08-21T06:43:36.606Z,1755758616.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-21T06:43:36.606Z,1755758616.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-08-21T06:43:36.606Z,1755758616.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-08-21T06:43:36.606Z,1755758616.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-21T06:43:36.606Z,1755758616.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-21T06:43:36.607Z,1755758616.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-08-21T06:43:36.608Z,1755758616.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-08-21T06:43:36.608Z,1755758616.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-21T06:43:36.608Z,1755758616.608 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-21T06:43:36.608Z,1755758616.608 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-21T06:43:36.608Z,1755758616.608 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-21T06:43:36.608Z,1755758616.608 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-21T06:43:36.608Z,1755758616.608 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-21T06:43:36.609Z,1755758616.609 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-21T06:43:36.609Z,1755758616.609 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-21T06:43:36.609Z,1755758616.609 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-08-21T06:43:36.609Z,1755758616.609 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-21T06:43:36.652Z,1755758616.652 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:36.652Z,1755758616.652 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:36.652Z,1755758616.652 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:36.905Z,1755758616.905 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:36.905Z,1755758616.905 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:36.906Z,1755758616.906 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:37.026Z,1755758617.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 192.000000 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-21T06:43:37.029Z,1755758617.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 190.988724 m,
      bearing: 154.867130 deg,
      lat: 36.779231 deg,
      lon: -121.859676 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-21T06:43:37.029Z,1755758617.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:37.032Z,1755758617.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 156.503494 m,
      bearing: 150.187463 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 306.906846 deg,
      new cmd heading: 150.187463 deg.

2025-08-21T06:43:37.033Z,1755758617.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.621266 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:37.047Z,1755758617.047 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-21T06:43:37.048Z,1755758617.048 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-21T06:43:37.157Z,1755758617.157 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:37.157Z,1755758617.157 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:37.157Z,1755758617.157 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:37.398Z,1755758617.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:37.408Z,1755758617.408 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:37.408Z,1755758617.408 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:37.408Z,1755758617.408 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:37.416Z,1755758617.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 156.585281 m,
      bearing: 150.159240 deg,
      approach rate: 0.219469 m/s,
      LOS rate: nan deg/s,
      cmd heading: 150.187459 deg,
      new cmd heading: 150.159240 deg.

2025-08-21T06:43:37.417Z,1755758617.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.620773 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:37.662Z,1755758617.662 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:37.662Z,1755758617.662 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:37.663Z,1755758617.663 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:37.796Z,1755758617.796 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:37.798Z,1755758617.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:37.801Z,1755758617.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 156.673309 m,
      bearing: 150.129091 deg,
      approach rate: 0.219825 m/s,
      LOS rate: nan deg/s,
      cmd heading: 150.159236 deg,
      new cmd heading: 150.129091 deg.

2025-08-21T06:43:37.802Z,1755758617.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.620247 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:37.870Z,1755758617.870 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-21T06:43:37.912Z,1755758617.912 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:37.912Z,1755758617.912 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:37.912Z,1755758617.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:37.984Z,1755758617.984 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-21T06:43:38.165Z,1755758618.165 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:38.165Z,1755758618.165 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:38.165Z,1755758618.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:43:38.265Z,1755758618.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:38.268Z,1755758618.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 156.768723 m,
      bearing: 150.094315 deg,
      approach rate: 0.204343 m/s,
      LOS rate: nan deg/s,
      cmd heading: 150.129088 deg,
      new cmd heading: 150.094315 deg.

2025-08-21T06:43:38.269Z,1755758618.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.619640 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:38.416Z,1755758618.416 [DAT](INFO): Reached modem response timeout
2025-08-21T06:43:38.416Z,1755758618.416 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:43:38.416Z,1755758618.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:38.609Z,1755758618.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:38.627Z,1755758618.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 156.839096 m,
      bearing: 150.068847 deg,
      approach rate: 0.204744 m/s,
      LOS rate: nan deg/s,
      cmd heading: 150.094322 deg,
      new cmd heading: 150.068847 deg.

2025-08-21T06:43:38.628Z,1755758618.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.619195 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:38.668Z,1755758618.668 [DAT](INFO): DAT read: 

2025-08-21T06:43:38.668Z,1755758618.668 [DAT](INFO): Reached modem response timeout
2025-08-21T06:43:38.669Z,1755758618.669 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:43:38.669Z,1755758618.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:38.922Z,1755758618.922 [DAT](INFO): Reached modem response timeout
2025-08-21T06:43:38.923Z,1755758618.923 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:43:38.923Z,1755758618.923 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:39.048Z,1755758619.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:39.057Z,1755758619.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 156.922592 m,
      bearing: 150.038332 deg,
      approach rate: 0.190209 m/s,
      LOS rate: nan deg/s,
      cmd heading: 150.068846 deg,
      new cmd heading: 150.038332 deg.

2025-08-21T06:43:39.059Z,1755758619.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.618663 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:39.175Z,1755758619.175 [DAT](INFO): Reached modem response timeout
2025-08-21T06:43:39.189Z,1755758619.189 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:43:39.190Z,1755758619.190 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:39.424Z,1755758619.424 [DAT](INFO): Reached modem response timeout
2025-08-21T06:43:39.424Z,1755758619.424 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:43:39.424Z,1755758619.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:39.430Z,1755758619.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:39.433Z,1755758619.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 157.000824 m,
      bearing: 150.009891 deg,
      approach rate: 0.204807 m/s,
      LOS rate: nan deg/s,
      cmd heading: 150.038328 deg,
      new cmd heading: 150.009891 deg.

2025-08-21T06:43:39.433Z,1755758619.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.618166 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:39.676Z,1755758619.676 [DAT](INFO): Reached modem response timeout
2025-08-21T06:43:39.676Z,1755758619.676 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:43:39.676Z,1755758619.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:39.825Z,1755758619.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:39.828Z,1755758619.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:39.830Z,1755758619.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 157.080551 m,
      bearing: 149.981012 deg,
      approach rate: 0.200493 m/s,
      LOS rate: nan deg/s,
      cmd heading: 150.009887 deg,
      new cmd heading: 149.981012 deg.

2025-08-21T06:43:39.831Z,1755758619.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.617662 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:39.931Z,1755758619.931 [DAT](INFO): Reached modem response timeout
2025-08-21T06:43:39.932Z,1755758619.932 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:43:39.933Z,1755758619.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:40.180Z,1755758620.180 [DAT](INFO): Reached modem response timeout
2025-08-21T06:43:40.180Z,1755758620.180 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:43:40.180Z,1755758620.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:40.270Z,1755758620.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:40.273Z,1755758620.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 157.169128 m,
      bearing: 149.949412 deg,
      approach rate: 0.200218 m/s,
      LOS rate: nan deg/s,
      cmd heading: 149.981009 deg,
      new cmd heading: 149.949412 deg.

2025-08-21T06:43:40.273Z,1755758620.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.617111 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:40.432Z,1755758620.432 [DAT](INFO): Reached modem response timeout
2025-08-21T06:43:40.432Z,1755758620.432 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:43:40.433Z,1755758620.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:40.642Z,1755758620.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:40.645Z,1755758620.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 157.243835 m,
      bearing: 149.922856 deg,
      approach rate: 0.200669 m/s,
      LOS rate: nan deg/s,
      cmd heading: 149.949413 deg,
      new cmd heading: 149.922856 deg.

2025-08-21T06:43:40.646Z,1755758620.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.616647 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:40.685Z,1755758620.685 [DAT](INFO): DAT read: Response Not Received

2025-08-21T06:43:40.685Z,1755758620.685 [DAT](INFO): response not received
2025-08-21T06:43:40.686Z,1755758620.686 [DAT](INFO): DAT read: user:1844>

2025-08-21T06:43:40.686Z,1755758620.686 [DAT](INFO): DAT read: Tx time:06:43:40.0249

2025-08-21T06:43:40.687Z,1755758620.687 [DAT](INFO): Ping request sent.
2025-08-21T06:43:40.687Z,1755758620.687 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:40.691Z,1755758620.691 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:40.692Z,1755758620.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004632
2025-08-21T06:43:40.939Z,1755758620.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251783
2025-08-21T06:43:41.074Z,1755758621.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:41.077Z,1755758621.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 157.331985 m,
      bearing: 149.891271 deg,
      approach rate: 0.204233 m/s,
      LOS rate: nan deg/s,
      cmd heading: 149.922857 deg,
      new cmd heading: 149.891271 deg.

2025-08-21T06:43:41.077Z,1755758621.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.616096 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:41.188Z,1755758621.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501541
2025-08-21T06:43:41.440Z,1755758621.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753479
2025-08-21T06:43:41.456Z,1755758621.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:41.458Z,1755758621.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 157.405884 m,
      bearing: 149.864673 deg,
      approach rate: 0.204272 m/s,
      LOS rate: nan deg/s,
      cmd heading: 149.891274 deg,
      new cmd heading: 149.864673 deg.

2025-08-21T06:43:41.459Z,1755758621.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.615632 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:41.517Z,1755758621.517 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T06:43:41.692Z,1755758621.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005473
2025-08-21T06:43:41.850Z,1755758621.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:41.853Z,1755758621.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:41.855Z,1755758621.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 157.490891 m,
      bearing: 149.833975 deg,
      approach rate: 0.203807 m/s,
      LOS rate: nan deg/s,
      cmd heading: 149.864678 deg,
      new cmd heading: 149.833975 deg.

2025-08-21T06:43:41.856Z,1755758621.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.615096 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:41.948Z,1755758621.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260214
2025-08-21T06:43:42.196Z,1755758622.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509433
2025-08-21T06:43:42.283Z,1755758622.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:42.286Z,1755758622.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 157.592178 m,
      bearing: 149.799294 deg,
      approach rate: 0.235293 m/s,
      LOS rate: nan deg/s,
      cmd heading: 149.833969 deg,
      new cmd heading: 149.799294 deg.

2025-08-21T06:43:42.286Z,1755758622.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.614491 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:42.448Z,1755758622.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761343
2025-08-21T06:43:42.651Z,1755758622.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:42.653Z,1755758622.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 157.678680 m,
      bearing: 149.769504 deg,
      approach rate: 0.235213 m/s,
      LOS rate: nan deg/s,
      cmd heading: 149.799299 deg,
      new cmd heading: 149.769504 deg.

2025-08-21T06:43:42.654Z,1755758622.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.613971 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:42.700Z,1755758622.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013479
2025-08-21T06:43:42.954Z,1755758622.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266958
2025-08-21T06:43:43.089Z,1755758623.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:43.093Z,1755758623.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 157.781464 m,
      bearing: 149.733933 deg,
      approach rate: 0.234398 m/s,
      LOS rate: nan deg/s,
      cmd heading: 149.769506 deg,
      new cmd heading: 149.733933 deg.

2025-08-21T06:43:43.093Z,1755758623.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.613350 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:43.204Z,1755758623.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517420
2025-08-21T06:43:43.456Z,1755758623.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769454
2025-08-21T06:43:43.483Z,1755758623.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:43.486Z,1755758623.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 157.869934 m,
      bearing: 149.703134 deg,
      approach rate: 0.226796 m/s,
      LOS rate: nan deg/s,
      cmd heading: 149.733934 deg,
      new cmd heading: 149.703134 deg.

2025-08-21T06:43:43.487Z,1755758623.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.612813 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:43.708Z,1755758623.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021437
2025-08-21T06:43:43.881Z,1755758623.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:43.884Z,1755758623.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:43.886Z,1755758623.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 157.966888 m,
      bearing: 149.669065 deg,
      approach rate: 0.239976 m/s,
      LOS rate: nan deg/s,
      cmd heading: 149.703130 deg,
      new cmd heading: 149.669065 deg.

2025-08-21T06:43:43.887Z,1755758623.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.612218 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:43.965Z,1755758623.965 [DAT](INFO): DAT read: Rx Time:06:43:42.6904

2025-08-21T06:43:43.967Z,1755758623.967 [DAT](INFO): Rx dataTimestamp_ set to:1755758623.965840
2025-08-21T06:43:43.971Z,1755758623.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283514
2025-08-21T06:43:44.212Z,1755758624.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525468
2025-08-21T06:43:44.310Z,1755758624.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.99 m.
2025-08-21T06:43:44.313Z,1755758624.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 190.988724 m,
      nav range: 158.094650 m,
      bearing: 149.627990 deg,
      approach rate: 0.299311 m/s,
      LOS rate: nan deg/s,
      cmd heading: 149.669061 deg,
      new cmd heading: 149.627990 deg.

2025-08-21T06:43:44.314Z,1755758624.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.611501 target range: 190.988724 and range: 192.00 m.
2025-08-21T06:43:44.480Z,1755758624.480 [DAT](INFO): DAT read: 06:43:42.6904 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.15, 1.040, 2.528, 1.762, 1.040, PHS= 0.102, 1.534, 0.678, RAW= 306.4, -33.3, CAL= 304.0, -37.0, ROT= 206.0,  37.0

2025-08-21T06:43:44.481Z,1755758624.481 [DAT](INFO): got valid direction response:
 06:43:42.6904 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.15, 1.040, 2.528, 1.762, 1.040, PHS= 0.102, 1.534, 0.678, RAW= 306.4, -33.3, CAL= 304.0, -37.0, ROT= 206.0,  37.0

2025-08-21T06:43:44.482Z,1755758624.482 [DAT](INFO): DAT read: Bearing 314.7, -19.0 (Local)

2025-08-21T06:43:44.482Z,1755758624.482 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.7, -19.0 (Local)

2025-08-21T06:43:44.501Z,1755758624.501 [DAT](INFO): DAT read: Range 11 to 50 : 196.0 m  (Round-trip  261.4 ms) speed -0.3 m/s

2025-08-21T06:43:44.502Z,1755758624.502 [DAT](INFO): DAT read: user:1845>

2025-08-21T06:43:44.508Z,1755758624.508 [DAT](INFO): DAT read: Tx time:06:43:43.7749

2025-08-21T06:43:44.509Z,1755758624.509 [DAT](INFO): Ping request sent.
2025-08-21T06:43:44.509Z,1755758624.509 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:44.509Z,1755758624.509 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:43:44.511Z,1755758624.511 [DAT](INFO): direction in FSK: [-0.717809,-0.350099,-0.601815]
2025-08-21T06:43:44.527Z,1755758624.527 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:44.528Z,1755758624.528 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:44.549Z,1755758624.549 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:44.549Z,1755758624.549 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:44.788Z,1755758624.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 196.000000 m,
      deltaT: 16.393314 s,
      deltaX: 4.000000 m,
      approachRate: 0.244002 m/s,
      rangeRepo size: 2

2025-08-21T06:43:44.790Z,1755758624.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 194.967331 m,
      bearing: 148.096813 deg,
      lat: 36.779219 deg,
      lon: -121.859676 deg,
      deltaT: 16.393314 s,
      deltaX: 3.978607 m,
      approachRate: 0.242697 m/s,
      posRepo size: 2

2025-08-21T06:43:44.791Z,1755758624.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-08-21T06:43:44.793Z,1755758624.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 148.096813 deg.
2025-08-21T06:43:44.793Z,1755758624.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.584777 target range: 194.967331 and range: 196.00 m.
2025-08-21T06:43:45.254Z,1755758625.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-08-21T06:43:45.261Z,1755758625.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.967331 m,
      nav range: 159.514755 m,
      bearing: 149.771978 deg,
      approach rate: 0.328592 m/s,
      LOS rate: -0.102165 deg/s,
      cmd heading: 148.096806 deg,
      new cmd heading: 147.953725 deg.

2025-08-21T06:43:45.262Z,1755758625.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.582280 target range: 194.967331 and range: 196.00 m.
2025-08-21T06:43:45.664Z,1755758625.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-08-21T06:43:45.672Z,1755758625.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.967331 m,
      nav range: 159.652222 m,
      bearing: 149.728804 deg,
      approach rate: 0.335940 m/s,
      LOS rate: -0.105418 deg/s,
      cmd heading: 147.953727 deg,
      new cmd heading: 147.824317 deg.

2025-08-21T06:43:45.672Z,1755758625.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.580021 target range: 194.967331 and range: 196.00 m.
2025-08-21T06:43:46.110Z,1755758626.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:46.113Z,1755758626.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-08-21T06:43:46.115Z,1755758626.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.967331 m,
      nav range: 159.807510 m,
      bearing: 149.681290 deg,
      approach rate: 0.345850 m/s,
      LOS rate: -0.105717 deg/s,
      cmd heading: 147.824323 deg,
      new cmd heading: 147.681920 deg.

2025-08-21T06:43:46.116Z,1755758626.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.577536 target range: 194.967331 and range: 196.00 m.
2025-08-21T06:43:46.232Z,1755758626.232 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:46.232Z,1755758626.232 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:46.232Z,1755758626.232 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:46.484Z,1755758626.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975525
2025-08-21T06:43:46.492Z,1755758626.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-08-21T06:43:46.495Z,1755758626.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.967331 m,
      nav range: 159.938095 m,
      bearing: 149.640964 deg,
      approach rate: 0.343867 m/s,
      LOS rate: -0.106104 deg/s,
      cmd heading: 147.681927 deg,
      new cmd heading: 147.561047 deg.

2025-08-21T06:43:46.496Z,1755758626.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.575426 target range: 194.967331 and range: 196.00 m.
2025-08-21T06:43:46.736Z,1755758626.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227390
2025-08-21T06:43:46.889Z,1755758626.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-08-21T06:43:46.892Z,1755758626.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.967331 m,
      nav range: 160.074600 m,
      bearing: 149.598343 deg,
      approach rate: 0.344338 m/s,
      LOS rate: -0.107419 deg/s,
      cmd heading: 147.561046 deg,
      new cmd heading: 147.433294 deg.

2025-08-21T06:43:46.892Z,1755758626.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.573196 target range: 194.967331 and range: 196.00 m.
2025-08-21T06:43:46.991Z,1755758626.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481526
2025-08-21T06:43:47.240Z,1755758627.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731438
2025-08-21T06:43:47.320Z,1755758627.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-08-21T06:43:47.322Z,1755758627.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.967331 m,
      nav range: 160.230789 m,
      bearing: 149.550497 deg,
      approach rate: 0.362694 m/s,
      LOS rate: -0.110998 deg/s,
      cmd heading: 147.433294 deg,
      new cmd heading: 147.289895 deg.

2025-08-21T06:43:47.324Z,1755758627.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570694 target range: 194.967331 and range: 196.00 m.
2025-08-21T06:43:47.492Z,1755758627.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983370
2025-08-21T06:43:47.697Z,1755758627.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-08-21T06:43:47.700Z,1755758627.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.967331 m,
      nav range: 160.366425 m,
      bearing: 149.507896 deg,
      approach rate: 0.358760 m/s,
      LOS rate: -0.112585 deg/s,
      cmd heading: 147.289901 deg,
      new cmd heading: 147.162207 deg.

2025-08-21T06:43:47.701Z,1755758627.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568465 target range: 194.967331 and range: 196.00 m.
2025-08-21T06:43:47.744Z,1755758627.744 [DAT](INFO): DAT read: Rx Time:06:43:46.4411

2025-08-21T06:43:47.745Z,1755758627.745 [DAT](INFO): Rx dataTimestamp_ set to:1755758627.744627
2025-08-21T06:43:47.745Z,1755758627.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236687
2025-08-21T06:43:47.999Z,1755758627.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.489540
2025-08-21T06:43:48.195Z,1755758628.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:48.197Z,1755758628.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 194.97 m.
2025-08-21T06:43:48.204Z,1755758628.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 194.967331 m,
      nav range: 160.550644 m,
      bearing: 149.452335 deg,
      approach rate: 0.368399 m/s,
      LOS rate: -0.110983 deg/s,
      cmd heading: 147.162204 deg,
      new cmd heading: 146.995712 deg.

2025-08-21T06:43:48.205Z,1755758628.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565559 target range: 194.967331 and range: 196.00 m.
2025-08-21T06:43:48.261Z,1755758628.261 [DAT](INFO): DAT read: 06:43:46.4411 LVL= 32752, 31537, 32754, 32755, AGC= 70, IDX= 176, 0.03,-3.037,-0.734,-2.088,-1.814, PHS=-1.121, 1.125,-0.319, RAW= 309.4,   3.2, CAL= 306.9,   0.0, ROT= 203.1,  -0.0

2025-08-21T06:43:48.262Z,1755758628.262 [DAT](INFO): got valid direction response:
 06:43:46.4411 LVL= 32752, 31537, 32754, 32755, AGC= 70, IDX= 176, 0.03,-3.037,-0.734,-2.088,-1.814, PHS=-1.121, 1.125,-0.319, RAW= 309.4,   3.2, CAL= 306.9,   0.0, ROT= 203.1,  -0.0

2025-08-21T06:43:48.263Z,1755758628.263 [DAT](INFO): DAT read: Bearing 273.0, -19.1 (Local)

2025-08-21T06:43:48.263Z,1755758628.263 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.0, -19.1 (Local)

2025-08-21T06:43:48.265Z,1755758628.265 [DAT](INFO): DAT read: Range 11 to 50 : 196.5 m  (Round-trip  262.1 ms) speed -0.4 m/s

2025-08-21T06:43:48.266Z,1755758628.266 [DAT](INFO): DAT read: user:1846>

2025-08-21T06:43:48.266Z,1755758628.266 [DAT](INFO): DAT read: Tx time:06:43:47.5749

2025-08-21T06:43:48.267Z,1755758628.267 [DAT](INFO): Ping request sent.
2025-08-21T06:43:48.267Z,1755758628.267 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:48.267Z,1755758628.267 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:43:48.268Z,1755758628.268 [DAT](INFO): direction in FSK: [-0.919821,-0.392337,0.000000]
2025-08-21T06:43:48.268Z,1755758628.268 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:48.269Z,1755758628.269 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:48.288Z,1755758628.288 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:48.289Z,1755758628.289 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:48.631Z,1755758628.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 196.500000 m,
      deltaT: 3.782754 s,
      deltaX: 0.500000 m,
      approachRate: 0.132179 m/s,
      rangeRepo size: 3

2025-08-21T06:43:48.633Z,1755758628.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 195.465561 m,
      bearing: 145.938634 deg,
      lat: 36.779210 deg,
      lon: -121.859676 deg,
      deltaT: 3.782754 s,
      deltaX: 0.498230 m,
      approachRate: 0.131711 m/s,
      posRepo size: 3

2025-08-21T06:43:48.634Z,1755758628.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.47 m.
2025-08-21T06:43:48.636Z,1755758628.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.465561 m,
      nav range: 161.626297 m,
      bearing: 149.593703 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.110983 deg/s,
      cmd heading: 146.995711 deg,
      new cmd heading: 146.851677 deg.

2025-08-21T06:43:48.637Z,1755758628.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563045 target range: 195.465561 and range: 196.50 m.
2025-08-21T06:43:48.996Z,1755758628.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.47 m.
2025-08-21T06:43:48.999Z,1755758628.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.465561 m,
      nav range: 161.757141 m,
      bearing: 149.553082 deg,
      approach rate: 0.357529 m/s,
      LOS rate: -0.110908 deg/s,
      cmd heading: 146.851676 deg,
      new cmd heading: 146.729910 deg.

2025-08-21T06:43:49.013Z,1755758629.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560920 target range: 195.465561 and range: 196.50 m.
2025-08-21T06:43:49.473Z,1755758629.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.47 m.
2025-08-21T06:43:49.480Z,1755758629.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.465561 m,
      nav range: 161.950851 m,
      bearing: 149.494173 deg,
      approach rate: 0.406407 m/s,
      LOS rate: -0.123444 deg/s,
      cmd heading: 146.729908 deg,
      new cmd heading: 146.553393 deg.

2025-08-21T06:43:49.481Z,1755758629.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557839 target range: 195.465561 and range: 196.50 m.
2025-08-21T06:43:49.878Z,1755758629.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.47 m.
2025-08-21T06:43:49.888Z,1755758629.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.465561 m,
      nav range: 162.108551 m,
      bearing: 149.445456 deg,
      approach rate: 0.389435 m/s,
      LOS rate: -0.120188 deg/s,
      cmd heading: 146.553388 deg,
      new cmd heading: 146.407380 deg.

2025-08-21T06:43:49.889Z,1755758629.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555291 target range: 195.465561 and range: 196.50 m.
2025-08-21T06:43:50.305Z,1755758630.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:50.312Z,1755758630.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.47 m.
2025-08-21T06:43:50.314Z,1755758630.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.465561 m,
      nav range: 162.293747 m,
      bearing: 149.387789 deg,
      approach rate: 0.430806 m/s,
      LOS rate: -0.133992 deg/s,
      cmd heading: 146.407386 deg,
      new cmd heading: 146.234585 deg.

2025-08-21T06:43:50.320Z,1755758630.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552275 target range: 195.465561 and range: 196.50 m.
2025-08-21T06:43:50.368Z,1755758630.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:43:50.517Z,1755758630.517 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:50.517Z,1755758630.517 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:50.517Z,1755758630.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:50.697Z,1755758630.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.47 m.
2025-08-21T06:43:50.716Z,1755758630.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.465561 m,
      nav range: 162.457901 m,
      bearing: 149.335746 deg,
      approach rate: 0.421232 m/s,
      LOS rate: -0.133411 deg/s,
      cmd heading: 146.234582 deg,
      new cmd heading: 146.078611 deg.

2025-08-21T06:43:50.717Z,1755758630.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549553 target range: 195.465561 and range: 196.50 m.
2025-08-21T06:43:50.768Z,1755758630.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501717
2025-08-21T06:43:51.021Z,1755758631.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753854
2025-08-21T06:43:51.171Z,1755758631.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.47 m.
2025-08-21T06:43:51.175Z,1755758631.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.465561 m,
      nav range: 162.656281 m,
      bearing: 149.272099 deg,
      approach rate: 0.419356 m/s,
      LOS rate: -0.134381 deg/s,
      cmd heading: 146.078608 deg,
      new cmd heading: 145.887899 deg.

2025-08-21T06:43:51.177Z,1755758631.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546224 target range: 195.465561 and range: 196.50 m.
2025-08-21T06:43:51.277Z,1755758631.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009438
2025-08-21T06:43:51.372Z,1755758631.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:43:51.525Z,1755758631.525 [DAT](INFO): DAT read: Rx Time:06:43:50.2433

2025-08-21T06:43:51.526Z,1755758631.526 [DAT](INFO): Rx dataTimestamp_ set to:1755758631.525174
2025-08-21T06:43:51.527Z,1755758631.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259947
2025-08-21T06:43:51.558Z,1755758631.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.47 m.
2025-08-21T06:43:51.561Z,1755758631.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.465561 m,
      nav range: 162.821075 m,
      bearing: 149.218280 deg,
      approach rate: 0.424504 m/s,
      LOS rate: -0.138495 deg/s,
      cmd heading: 145.887896 deg,
      new cmd heading: 145.726603 deg.

2025-08-21T06:43:51.562Z,1755758631.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543409 target range: 195.465561 and range: 196.50 m.
2025-08-21T06:43:51.776Z,1755758631.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509421
2025-08-21T06:43:51.997Z,1755758631.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.47 m.
2025-08-21T06:43:51.000Z,1755758632.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 195.465561 m,
      nav range: 162.999420 m,
      bearing: 149.158863 deg,
      approach rate: 0.407131 m/s,
      LOS rate: -0.135489 deg/s,
      cmd heading: 145.726608 deg,
      new cmd heading: 145.548554 deg.

2025-08-21T06:43:52.002Z,1755758632.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540302 target range: 195.465561 and range: 196.50 m.
2025-08-21T06:43:52.044Z,1755758632.044 [DAT](INFO): DAT read: 06:43:50.2433 LVL= 32752, 30769, 32754, 32755, AGC= 67, IDX= 447,-0.21, 1.473, 2.842, 2.146, 1.564, PHS= 0.011, 1.324, 0.538, RAW= 306.5, -30.1, CAL= 304.8, -33.9, ROT= 205.2,  33.9

2025-08-21T06:43:52.045Z,1755758632.045 [DAT](INFO): got valid direction response:
 06:43:50.2433 LVL= 32752, 30769, 32754, 32755, AGC= 67, IDX= 447,-0.21, 1.473, 2.842, 2.146, 1.564, PHS= 0.011, 1.324, 0.538, RAW= 306.5, -30.1, CAL= 304.8, -33.9, ROT= 205.2,  33.9

2025-08-21T06:43:52.046Z,1755758632.046 [DAT](INFO): DAT read: Bearing 304.8, -19.1 (Local)

2025-08-21T06:43:52.046Z,1755758632.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.8, -19.1 (Local)

2025-08-21T06:43:52.066Z,1755758632.066 [DAT](INFO): DAT read: Range 11 to 50 : 198.2 m  (Round-trip  264.3 ms) speed -0.4 m/s

2025-08-21T06:43:52.077Z,1755758632.077 [DAT](INFO): DAT read: user:1847>

2025-08-21T06:43:52.086Z,1755758632.086 [DAT](INFO): DAT read: Tx time:06:43:51.3249

2025-08-21T06:43:52.096Z,1755758632.096 [DAT](INFO): Ping request sent.
2025-08-21T06:43:52.096Z,1755758632.096 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:52.097Z,1755758632.097 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:43:52.120Z,1755758632.120 [DAT](INFO): direction in FSK: [-0.751018,-0.353402,-0.557745]
2025-08-21T06:43:52.120Z,1755758632.120 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:52.120Z,1755758632.120 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:52.141Z,1755758632.141 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:52.141Z,1755758632.141 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:52.460Z,1755758632.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 198.199997 m,
      deltaT: 3.780270 s,
      deltaX: 1.699997 m,
      approachRate: 0.449703 m/s,
      rangeRepo size: 4

2025-08-21T06:43:52.462Z,1755758632.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 197.155960 m,
      bearing: 142.055871 deg,
      lat: 36.779210 deg,
      lon: -121.859612 deg,
      deltaT: 3.780270 s,
      deltaX: 1.690399 m,
      approachRate: 0.447164 m/s,
      posRepo size: 4

2025-08-21T06:43:52.462Z,1755758632.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.16 m.
2025-08-21T06:43:52.469Z,1755758632.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.155960 m,
      nav range: 166.160248 m,
      bearing: 147.423669 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.135489 deg/s,
      cmd heading: 145.548558 deg,
      new cmd heading: 145.362316 deg.

2025-08-21T06:43:52.470Z,1755758632.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.537051 target range: 197.155960 and range: 198.20 m.
2025-08-21T06:43:52.845Z,1755758632.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:52.847Z,1755758632.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.16 m.
2025-08-21T06:43:52.850Z,1755758632.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.155960 m,
      nav range: 166.342560 m,
      bearing: 147.365162 deg,
      approach rate: 0.465124 m/s,
      LOS rate: -0.149101 deg/s,
      cmd heading: 145.362313 deg,
      new cmd heading: 145.186987 deg.

2025-08-21T06:43:52.851Z,1755758632.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.533991 target range: 197.155960 and range: 198.20 m.
2025-08-21T06:43:53.036Z,1755758633.036 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:53.036Z,1755758633.036 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:53.036Z,1755758633.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:53.284Z,1755758633.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.16 m.
2025-08-21T06:43:53.286Z,1755758633.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.155960 m,
      nav range: 166.543198 m,
      bearing: 147.302877 deg,
      approach rate: 0.459432 m/s,
      LOS rate: -0.142452 deg/s,
      cmd heading: 145.186982 deg,
      new cmd heading: 145.000353 deg.

2025-08-21T06:43:53.288Z,1755758633.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.192504
2025-08-21T06:43:53.289Z,1755758633.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530734 target range: 197.155960 and range: 198.20 m.
2025-08-21T06:43:53.540Z,1755758633.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.444532
2025-08-21T06:43:53.655Z,1755758633.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.16 m.
2025-08-21T06:43:53.658Z,1755758633.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.155960 m,
      nav range: 166.715912 m,
      bearing: 147.248055 deg,
      approach rate: 0.465257 m/s,
      LOS rate: -0.147526 deg/s,
      cmd heading: 145.000354 deg,
      new cmd heading: 144.836058 deg.

2025-08-21T06:43:53.659Z,1755758633.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.527866 target range: 197.155960 and range: 198.20 m.
2025-08-21T06:43:53.793Z,1755758633.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.697074
2025-08-21T06:43:54.044Z,1755758634.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948473
2025-08-21T06:43:54.085Z,1755758634.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.16 m.
2025-08-21T06:43:54.098Z,1755758634.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.155960 m,
      nav range: 166.906097 m,
      bearing: 147.186263 deg,
      approach rate: 0.443426 m/s,
      LOS rate: -0.143907 deg/s,
      cmd heading: 144.836060 deg,
      new cmd heading: 144.650896 deg.

2025-08-21T06:43:54.118Z,1755758634.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.524634 target range: 197.155960 and range: 198.20 m.
2025-08-21T06:43:54.296Z,1755758634.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200417
2025-08-21T06:43:54.533Z,1755758634.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.16 m.
2025-08-21T06:43:54.540Z,1755758634.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.155960 m,
      nav range: 167.110458 m,
      bearing: 147.121396 deg,
      approach rate: 0.454824 m/s,
      LOS rate: -0.144192 deg/s,
      cmd heading: 144.650894 deg,
      new cmd heading: 144.456530 deg.

2025-08-21T06:43:54.541Z,1755758634.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.521242 target range: 197.155960 and range: 198.20 m.
2025-08-21T06:43:54.548Z,1755758634.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452581
2025-08-21T06:43:54.800Z,1755758634.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704382
2025-08-21T06:43:54.889Z,1755758634.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:54.893Z,1755758634.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.16 m.
2025-08-21T06:43:54.912Z,1755758634.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.155960 m,
      nav range: 167.286850 m,
      bearing: 147.064246 deg,
      approach rate: 0.492323 m/s,
      LOS rate: -0.159343 deg/s,
      cmd heading: 144.456534 deg,
      new cmd heading: 144.285264 deg.

2025-08-21T06:43:54.913Z,1755758634.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518253 target range: 197.155960 and range: 198.20 m.
2025-08-21T06:43:55.054Z,1755758635.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.958243
2025-08-21T06:43:55.304Z,1755758635.304 [DAT](INFO): DAT read: Rx Time:06:43:53.9949

2025-08-21T06:43:55.305Z,1755758635.305 [DAT](INFO): Rx dataTimestamp_ set to:1755758635.304624
2025-08-21T06:43:55.305Z,1755758635.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.209643
2025-08-21T06:43:55.342Z,1755758635.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.16 m.
2025-08-21T06:43:55.349Z,1755758635.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.155960 m,
      nav range: 167.486526 m,
      bearing: 146.999708 deg,
      approach rate: 0.442840 m/s,
      LOS rate: -0.142959 deg/s,
      cmd heading: 144.285260 deg,
      new cmd heading: 144.091880 deg.

2025-08-21T06:43:55.350Z,1755758635.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514878 target range: 197.155960 and range: 198.20 m.
2025-08-21T06:43:55.556Z,1755758635.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.460377
2025-08-21T06:43:55.754Z,1755758635.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 197.16 m.
2025-08-21T06:43:55.758Z,1755758635.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 197.155960 m,
      nav range: 167.689087 m,
      bearing: 146.929059 deg,
      approach rate: 0.491724 m/s,
      LOS rate: -0.171298 deg/s,
      cmd heading: 144.091884 deg,
      new cmd heading: 143.880191 deg.

2025-08-21T06:43:55.759Z,1755758635.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511183 target range: 197.155960 and range: 198.20 m.
2025-08-21T06:43:55.814Z,1755758635.814 [DAT](INFO): DAT read: 06:43:53.9949 LVL= 32752, 27089, 32754, 32755, AGC= 69, IDX= 462, 0.24,-2.308,-0.771,-1.453,-2.143, PHS=-0.063, 1.417, 0.646, RAW= 301.4, -28.9, CAL= 299.8, -32.9, ROT= 210.2,  32.9

2025-08-21T06:43:55.821Z,1755758635.821 [DAT](INFO): got valid direction response:
 06:43:53.9949 LVL= 32752, 27089, 32754, 32755, AGC= 69, IDX= 462, 0.24,-2.308,-0.771,-1.453,-2.143, PHS=-0.063, 1.417, 0.646, RAW= 301.4, -28.9, CAL= 299.8, -32.9, ROT= 210.2,  32.9

2025-08-21T06:43:55.823Z,1755758635.823 [DAT](INFO): DAT read: Bearing 299.0, -23.4 (Local)

2025-08-21T06:43:55.823Z,1755758635.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.0, -23.4 (Local)

2025-08-21T06:43:55.825Z,1755758635.825 [DAT](INFO): DAT read: Range 11 to 50 : 199.4 m  (Round-trip  265.9 ms) speed -0.4 m/s

2025-08-21T06:43:55.826Z,1755758635.826 [DAT](INFO): DAT read: user:1848>

2025-08-21T06:43:55.840Z,1755758635.840 [DAT](INFO): DAT read: Tx time:06:43:55.1249

2025-08-21T06:43:55.841Z,1755758635.841 [DAT](INFO): Ping request sent.
2025-08-21T06:43:55.841Z,1755758635.841 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:55.841Z,1755758635.841 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:43:55.843Z,1755758635.843 [DAT](INFO): direction in FSK: [-0.725662,-0.422346,-0.543174]
2025-08-21T06:43:55.847Z,1755758635.847 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:55.848Z,1755758635.848 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:55.851Z,1755758635.851 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:55.851Z,1755758635.851 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:56.255Z,1755758636.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 199.399994 m,
      deltaT: 3.778968 s,
      deltaX: 1.199997 m,
      approachRate: 0.317546 m/s,
      rangeRepo size: 4

2025-08-21T06:43:56.257Z,1755758636.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 198.348999 m,
      bearing: 140.724140 deg,
      lat: 36.779219 deg,
      lon: -121.859460 deg,
      deltaT: 3.778968 s,
      deltaX: 1.193039 m,
      approachRate: 0.315705 m/s,
      posRepo size: 4

2025-08-21T06:43:56.258Z,1755758636.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.35 m.
2025-08-21T06:43:56.261Z,1755758636.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.348999 m,
      nav range: 174.871872 m,
      bearing: 142.928716 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.171298 deg/s,
      cmd heading: 143.880189 deg,
      new cmd heading: 143.623108 deg.

2025-08-21T06:43:56.262Z,1755758636.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.506696 target range: 198.348999 and range: 199.40 m.
2025-08-21T06:43:56.632Z,1755758636.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.35 m.
2025-08-21T06:43:56.634Z,1755758636.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.348999 m,
      nav range: 175.057770 m,
      bearing: 142.873412 deg,
      approach rate: 0.492137 m/s,
      LOS rate: -0.146254 deg/s,
      cmd heading: 143.623114 deg,
      new cmd heading: 143.457379 deg.

2025-08-21T06:43:56.636Z,1755758636.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503803 target range: 198.348999 and range: 199.40 m.
2025-08-21T06:43:57.088Z,1755758637.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:57.090Z,1755758637.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.35 m.
2025-08-21T06:43:57.093Z,1755758637.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.348999 m,
      nav range: 175.269211 m,
      bearing: 142.808783 deg,
      approach rate: 0.461746 m/s,
      LOS rate: -0.140967 deg/s,
      cmd heading: 143.457373 deg,
      new cmd heading: 143.263720 deg.

2025-08-21T06:43:57.094Z,1755758637.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500424 target range: 198.348999 and range: 199.40 m.
2025-08-21T06:43:57.320Z,1755758637.320 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:43:57.320Z,1755758637.320 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:43:57.320Z,1755758637.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:43:57.527Z,1755758637.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.35 m.
2025-08-21T06:43:57.530Z,1755758637.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.348999 m,
      nav range: 175.482117 m,
      bearing: 142.743063 deg,
      approach rate: 0.491491 m/s,
      LOS rate: -0.151531 deg/s,
      cmd heading: 143.263723 deg,
      new cmd heading: 143.066802 deg.

2025-08-21T06:43:57.535Z,1755758637.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.496987 target range: 198.348999 and range: 199.40 m.
2025-08-21T06:43:57.573Z,1755758637.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731769
2025-08-21T06:43:57.824Z,1755758637.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.983395
2025-08-21T06:43:57.893Z,1755758637.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.35 m.
2025-08-21T06:43:57.912Z,1755758637.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.348999 m,
      nav range: 175.661606 m,
      bearing: 142.686102 deg,
      approach rate: 0.485123 m/s,
      LOS rate: -0.153797 deg/s,
      cmd heading: 143.066809 deg,
      new cmd heading: 142.896101 deg.

2025-08-21T06:43:57.913Z,1755758637.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.494007 target range: 198.348999 and range: 199.40 m.
2025-08-21T06:43:58.076Z,1755758638.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235702
2025-08-21T06:43:58.328Z,1755758638.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487402
2025-08-21T06:43:58.383Z,1755758638.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.35 m.
2025-08-21T06:43:58.386Z,1755758638.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.348999 m,
      nav range: 175.889191 m,
      bearing: 142.615669 deg,
      approach rate: 0.479947 m/s,
      LOS rate: -0.148341 deg/s,
      cmd heading: 142.896095 deg,
      new cmd heading: 142.685071 deg.

2025-08-21T06:43:58.387Z,1755758638.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490324 target range: 198.348999 and range: 199.40 m.
2025-08-21T06:43:58.580Z,1755758638.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739401
2025-08-21T06:43:58.752Z,1755758638.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.35 m.
2025-08-21T06:43:58.754Z,1755758638.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.348999 m,
      nav range: 176.074570 m,
      bearing: 142.558493 deg,
      approach rate: 0.482625 m/s,
      LOS rate: -0.148698 deg/s,
      cmd heading: 142.685070 deg,
      new cmd heading: 142.513723 deg.

2025-08-21T06:43:58.755Z,1755758638.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.487334 target range: 198.348999 and range: 199.40 m.
2025-08-21T06:43:58.833Z,1755758638.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992610
2025-08-21T06:43:59.084Z,1755758639.084 [DAT](INFO): DAT read: Rx Time:06:43:57.7720

2025-08-21T06:43:59.085Z,1755758639.085 [DAT](INFO): Rx dataTimestamp_ set to:1755758639.084454
2025-08-21T06:43:59.085Z,1755758639.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244548
2025-08-21T06:43:59.162Z,1755758639.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:43:59.179Z,1755758639.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.35 m.
2025-08-21T06:43:59.201Z,1755758639.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 198.348999 m,
      nav range: 176.258163 m,
      bearing: 142.495978 deg,
      approach rate: 0.431265 m/s,
      LOS rate: -0.146697 deg/s,
      cmd heading: 142.513728 deg,
      new cmd heading: 142.326377 deg.

2025-08-21T06:43:59.209Z,1755758639.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.484064 target range: 198.348999 and range: 199.40 m.
2025-08-21T06:43:59.336Z,1755758639.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495423
2025-08-21T06:43:59.594Z,1755758639.594 [DAT](INFO): DAT read: 06:43:57.7720 LVL= 30864, 18721, 24626, 30115, AGC= 66, IDX= 197, 0.23, 1.727,-2.304, 2.938,-3.123, PHS=-1.332, 0.863,-0.267, RAW= 301.0,   7.8, CAL= 298.5,   8.0, ROT= 211.5,  -8.0

2025-08-21T06:43:59.595Z,1755758639.595 [DAT](INFO): got valid direction response:
 06:43:57.7720 LVL= 30864, 18721, 24626, 30115, AGC= 66, IDX= 197, 0.23, 1.727,-2.304, 2.938,-3.123, PHS=-1.332, 0.863,-0.267, RAW= 301.0,   7.8, CAL= 298.5,   8.0, ROT= 211.5,  -8.0

2025-08-21T06:43:59.596Z,1755758639.596 [DAT](INFO): DAT read: Bearing 244.7, -31.1 (Local)

2025-08-21T06:43:59.597Z,1755758639.597 [DAT](INFO): Local bearing/azimuth received:
 Bearing 244.7, -31.1 (Local)

2025-08-21T06:43:59.598Z,1755758639.598 [DAT](INFO): DAT read: Range 11 to 50 : 182.2 m  (Round-trip  243.0 ms) speed -0.6 m/s

2025-08-21T06:43:59.599Z,1755758639.599 [DAT](INFO): DAT read: user:1849>

2025-08-21T06:43:59.600Z,1755758639.600 [DAT](INFO): DAT read: Tx time:06:43:58.8749

2025-08-21T06:43:59.600Z,1755758639.600 [DAT](INFO): Ping request sent.
2025-08-21T06:43:59.600Z,1755758639.600 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:43:59.600Z,1755758639.600 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:43:59.601Z,1755758639.601 [DAT](INFO): direction in FSK: [-0.844342,-0.517414,0.139173]
2025-08-21T06:43:59.602Z,1755758639.602 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:59.602Z,1755758639.602 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:59.605Z,1755758639.605 [DAT](INFO): publishing transmit ping time
2025-08-21T06:43:59.605Z,1755758639.605 [DAT](INFO): publishing direction and range info
2025-08-21T06:43:59.738Z,1755758639.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 182.199997 m,
      deltaT: 3.780219 s,
      deltaX: -17.199997 m,
      approachRate: -4.550000 m/s,
      rangeRepo size: 4

2025-08-21T06:43:59.765Z,1755758639.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.239212 m,
      bearing: 134.410023 deg,
      lat: 36.779280 deg,
      lon: -121.859442 deg,
      deltaT: 3.780219 s,
      deltaX: -17.109787 m,
      approachRate: -4.526136 m/s,
      posRepo size: 4

2025-08-21T06:43:59.765Z,1755758639.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.24 m.
2025-08-21T06:43:59.776Z,1755758639.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.239212 m,
      nav range: 172.185242 m,
      bearing: 140.612052 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.146697 deg/s,
      cmd heading: 142.326375 deg,
      new cmd heading: 142.079576 deg.

2025-08-21T06:43:59.777Z,1755758639.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.479756 target range: 181.239212 and range: 182.20 m.
2025-08-21T06:44:00.165Z,1755758640.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.24 m.
2025-08-21T06:44:00.187Z,1755758640.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.239212 m,
      nav range: 172.386826 m,
      bearing: 140.541038 deg,
      approach rate: 0.472755 m/s,
      LOS rate: -0.166349 deg/s,
      cmd heading: 142.079573 deg,
      new cmd heading: 141.866780 deg.

2025-08-21T06:44:00.194Z,1755758640.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476043 target range: 181.239212 and range: 182.20 m.
2025-08-21T06:44:00.648Z,1755758640.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.24 m.
2025-08-21T06:44:00.652Z,1755758640.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.239212 m,
      nav range: 172.624832 m,
      bearing: 140.459159 deg,
      approach rate: 0.491561 m/s,
      LOS rate: -0.168874 deg/s,
      cmd heading: 141.866786 deg,
      new cmd heading: 141.621488 deg.

2025-08-21T06:44:00.653Z,1755758640.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471761 target range: 181.239212 and range: 182.20 m.
2025-08-21T06:44:01.031Z,1755758641.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.24 m.
2025-08-21T06:44:01.034Z,1755758641.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.239212 m,
      nav range: 172.802963 m,
      bearing: 140.393499 deg,
      approach rate: 0.465753 m/s,
      LOS rate: -0.171501 deg/s,
      cmd heading: 141.621486 deg,
      new cmd heading: 141.424711 deg.

2025-08-21T06:44:01.035Z,1755758641.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468327 target range: 181.239212 and range: 182.20 m.
2025-08-21T06:44:01.464Z,1755758641.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:01.466Z,1755758641.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.24 m.
2025-08-21T06:44:01.469Z,1755758641.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.239212 m,
      nav range: 173.005814 m,
      bearing: 140.316959 deg,
      approach rate: 0.466218 m/s,
      LOS rate: -0.175708 deg/s,
      cmd heading: 141.424709 deg,
      new cmd heading: 141.195359 deg.

2025-08-21T06:44:01.470Z,1755758641.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464324 target range: 181.239212 and range: 182.20 m.
2025-08-21T06:44:01.605Z,1755758641.605 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:01.605Z,1755758641.605 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:01.605Z,1755758641.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:01.856Z,1755758641.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256227
2025-08-21T06:44:01.862Z,1755758641.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.24 m.
2025-08-21T06:44:01.869Z,1755758641.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.239212 m,
      nav range: 173.186523 m,
      bearing: 140.246500 deg,
      approach rate: 0.456524 m/s,
      LOS rate: -0.177814 deg/s,
      cmd heading: 141.195364 deg,
      new cmd heading: 140.984209 deg.

2025-08-21T06:44:01.870Z,1755758641.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460639 target range: 181.239212 and range: 182.20 m.
2025-08-21T06:44:02.109Z,1755758642.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508917
2025-08-21T06:44:02.307Z,1755758642.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.24 m.
2025-08-21T06:44:02.310Z,1755758642.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.239212 m,
      nav range: 173.392349 m,
      bearing: 140.164912 deg,
      approach rate: 0.462344 m/s,
      LOS rate: -0.183052 deg/s,
      cmd heading: 140.984202 deg,
      new cmd heading: 140.739731 deg.

2025-08-21T06:44:02.311Z,1755758642.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456372 target range: 181.239212 and range: 182.20 m.
2025-08-21T06:44:02.361Z,1755758642.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760986
2025-08-21T06:44:02.613Z,1755758642.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012462
2025-08-21T06:44:02.677Z,1755758642.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.24 m.
2025-08-21T06:44:02.680Z,1755758642.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.239212 m,
      nav range: 173.559570 m,
      bearing: 140.096423 deg,
      approach rate: 0.451740 m/s,
      LOS rate: -0.184840 deg/s,
      cmd heading: 140.739736 deg,
      new cmd heading: 140.534469 deg.

2025-08-21T06:44:02.681Z,1755758642.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452789 target range: 181.239212 and range: 182.20 m.
2025-08-21T06:44:02.864Z,1755758642.864 [DAT](INFO): DAT read: Rx Time:06:44:01.4992

2025-08-21T06:44:02.865Z,1755758642.865 [DAT](INFO): Rx dataTimestamp_ set to:1755758642.864429
2025-08-21T06:44:02.865Z,1755758642.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265186
2025-08-21T06:44:03.074Z,1755758643.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.24 m.
2025-08-21T06:44:03.077Z,1755758643.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.239212 m,
      nav range: 173.735107 m,
      bearing: 140.022083 deg,
      approach rate: 0.442177 m/s,
      LOS rate: -0.187074 deg/s,
      cmd heading: 140.534475 deg,
      new cmd heading: 140.311680 deg.

2025-08-21T06:44:03.078Z,1755758643.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448901 target range: 181.239212 and range: 182.20 m.
2025-08-21T06:44:03.116Z,1755758643.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516198
2025-08-21T06:44:03.383Z,1755758643.383 [DAT](INFO): DAT read: 06:44:01.4992 LVL= 30000, 25505, 25650, 30995, AGC= 67, IDX= 187,-0.44,-1.745, 0.340,-0.512,-0.364, PHS=-1.278, 0.749,-0.192, RAW= 297.6,   8.2, CAL= 295.2,   8.8, ROT= 214.8,  -8.8

2025-08-21T06:44:03.385Z,1755758643.385 [DAT](INFO): got valid direction response:
 06:44:01.4992 LVL= 30000, 25505, 25650, 30995, AGC= 67, IDX= 187,-0.44,-1.745, 0.340,-0.512,-0.364, PHS=-1.278, 0.749,-0.192, RAW= 297.6,   8.2, CAL= 295.2,   8.8, ROT= 214.8,  -8.8

2025-08-21T06:44:03.385Z,1755758643.385 [DAT](INFO): DAT read: Bearing 234.3, -35.4 (Local)

2025-08-21T06:44:03.386Z,1755758643.386 [DAT](INFO): Local bearing/azimuth received:
 Bearing 234.3, -35.4 (Local)

2025-08-21T06:44:03.388Z,1755758643.388 [DAT](INFO): DAT read: Range 11 to 50 : 165.1 m  (Round-trip  220.2 ms) speed -0.5 m/s

2025-08-21T06:44:03.388Z,1755758643.388 [DAT](INFO): DAT read: user:1850>

2025-08-21T06:44:03.389Z,1755758643.389 [DAT](INFO): DAT read: Tx time:06:44:02.6249

2025-08-21T06:44:03.389Z,1755758643.389 [DAT](INFO): Ping request sent.
2025-08-21T06:44:03.389Z,1755758643.389 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:03.390Z,1755758643.390 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:44:03.391Z,1755758643.391 [DAT](INFO): direction in FSK: [-0.811483,-0.563995,0.152986]
2025-08-21T06:44:03.391Z,1755758643.391 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:03.393Z,1755758643.393 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:03.396Z,1755758643.396 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:03.396Z,1755758643.396 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:03.545Z,1755758643.545 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +161. +181.45,       +40.72,  25.66,  0.00
2025-08-21T06:44:03.585Z,1755758643.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 165.100006 m,
      deltaT: 3.779966 s,
      deltaX: -17.099991 m,
      approachRate: -4.523848 m/s,
      rangeRepo size: 4

2025-08-21T06:44:03.592Z,1755758643.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 164.229553 m,
      bearing: 127.147753 deg,
      lat: 36.779298 deg,
      lon: -121.859366 deg,
      deltaT: 3.779966 s,
      deltaX: -17.009659 m,
      approachRate: -4.499950 m/s,
      posRepo size: 4

2025-08-21T06:44:03.593Z,1755758643.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.23 m.
2025-08-21T06:44:03.603Z,1755758643.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.229553 m,
      nav range: 176.935654 m,
      bearing: 137.856180 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.187074 deg/s,
      cmd heading: 140.311675 deg,
      new cmd heading: 140.025070 deg.

2025-08-21T06:44:03.604Z,1755758643.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443898 target range: 164.229553 and range: 165.10 m.
2025-08-21T06:44:03.968Z,1755758643.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:03.977Z,1755758643.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.23 m.
2025-08-21T06:44:03.988Z,1755758643.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.229553 m,
      nav range: 177.106598 m,
      bearing: 137.785555 deg,
      approach rate: 0.436239 m/s,
      LOS rate: -0.180056 deg/s,
      cmd heading: 140.025066 deg,
      new cmd heading: 139.813397 deg.

2025-08-21T06:44:03.990Z,1755758643.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440204 target range: 164.229553 and range: 165.10 m.
2025-08-21T06:44:04.124Z,1755758644.124 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:04.124Z,1755758644.124 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:04.125Z,1755758644.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:04.376Z,1755758644.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986954
2025-08-21T06:44:04.401Z,1755758644.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.23 m.
2025-08-21T06:44:04.404Z,1755758644.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.229553 m,
      nav range: 177.308960 m,
      bearing: 137.701553 deg,
      approach rate: 0.476983 m/s,
      LOS rate: -0.197773 deg/s,
      cmd heading: 139.813399 deg,
      new cmd heading: 139.561682 deg.

2025-08-21T06:44:04.405Z,1755758644.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435811 target range: 164.229553 and range: 165.10 m.
2025-08-21T06:44:04.628Z,1755758644.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238756
2025-08-21T06:44:04.790Z,1755758644.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.23 m.
2025-08-21T06:44:04.793Z,1755758644.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.229553 m,
      nav range: 177.479904 m,
      bearing: 137.628058 deg,
      approach rate: 0.439069 m/s,
      LOS rate: -0.188591 deg/s,
      cmd heading: 139.561679 deg,
      new cmd heading: 139.341405 deg.

2025-08-21T06:44:04.794Z,1755758644.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431966 target range: 164.229553 and range: 165.10 m.
2025-08-21T06:44:04.881Z,1755758644.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491499
2025-08-21T06:44:05.132Z,1755758645.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742869
2025-08-21T06:44:05.209Z,1755758645.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.23 m.
2025-08-21T06:44:05.212Z,1755758645.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.229553 m,
      nav range: 177.652649 m,
      bearing: 137.551137 deg,
      approach rate: 0.412159 m/s,
      LOS rate: -0.183350 deg/s,
      cmd heading: 139.341405 deg,
      new cmd heading: 139.110868 deg.

2025-08-21T06:44:05.213Z,1755758645.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427943 target range: 164.229553 and range: 165.10 m.
2025-08-21T06:44:05.384Z,1755758645.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994839
2025-08-21T06:44:05.625Z,1755758645.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.23 m.
2025-08-21T06:44:05.628Z,1755758645.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.229553 m,
      nav range: 177.844467 m,
      bearing: 137.469933 deg,
      approach rate: 0.461804 m/s,
      LOS rate: -0.195289 deg/s,
      cmd heading: 139.110873 deg,
      new cmd heading: 138.867525 deg.

2025-08-21T06:44:05.629Z,1755758645.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423696 target range: 164.229553 and range: 165.10 m.
2025-08-21T06:44:05.636Z,1755758645.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246945
2025-08-21T06:44:05.888Z,1755758645.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498888
2025-08-21T06:44:06.008Z,1755758646.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:06.010Z,1755758646.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.23 m.
2025-08-21T06:44:06.013Z,1755758646.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.229553 m,
      nav range: 178.007202 m,
      bearing: 137.395748 deg,
      approach rate: 0.422287 m/s,
      LOS rate: -0.192329 deg/s,
      cmd heading: 138.867527 deg,
      new cmd heading: 138.645177 deg.

2025-08-21T06:44:06.014Z,1755758646.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419815 target range: 164.229553 and range: 165.10 m.
2025-08-21T06:44:06.141Z,1755758646.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751587
2025-08-21T06:44:06.393Z,1755758646.393 [DAT](INFO): DAT read: Rx Time:06:44:05.2514

2025-08-21T06:44:06.393Z,1755758646.393 [DAT](INFO): Rx dataTimestamp_ set to:1755758646.392738
2025-08-21T06:44:06.394Z,1755758646.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004204
2025-08-21T06:44:06.466Z,1755758646.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.23 m.
2025-08-21T06:44:06.475Z,1755758646.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.229553 m,
      nav range: 178.183060 m,
      bearing: 137.315072 deg,
      approach rate: 0.386499 m/s,
      LOS rate: -0.177135 deg/s,
      cmd heading: 138.645177 deg,
      new cmd heading: 138.403389 deg.

2025-08-21T06:44:06.481Z,1755758646.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.415595 target range: 164.229553 and range: 165.10 m.
2025-08-21T06:44:06.644Z,1755758646.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254844
2025-08-21T06:44:06.830Z,1755758646.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 164.23 m.
2025-08-21T06:44:06.836Z,1755758646.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 164.229553 m,
      nav range: 178.342041 m,
      bearing: 137.239551 deg,
      approach rate: 0.436256 m/s,
      LOS rate: -0.207049 deg/s,
      cmd heading: 138.403388 deg,
      new cmd heading: 138.177029 deg.

2025-08-21T06:44:06.837Z,1755758646.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.411644 target range: 164.229553 and range: 165.10 m.
2025-08-21T06:44:06.897Z,1755758646.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507535
2025-08-21T06:44:07.157Z,1755758647.157 [DAT](INFO): DAT read: 06:44:05.2514 LVL= 31856, 25585, 30066, 29779, AGC= 65, IDX= 450, 0.08, 0.239, 2.145, 1.920, 1.798, PHS=-1.458, 0.392, 0.078, RAW= 279.1,  11.5, CAL= 277.8,  16.1, ROT= 232.2, -16.1

2025-08-21T06:44:07.158Z,1755758647.158 [DAT](INFO): got valid direction response:
 06:44:05.2514 LVL= 31856, 25585, 30066, 29779, AGC= 65, IDX= 450, 0.08, 0.239, 2.145, 1.920, 1.798, PHS=-1.458, 0.392, 0.078, RAW= 279.1,  11.5, CAL= 277.8,  16.1, ROT= 232.2, -16.1

2025-08-21T06:44:07.160Z,1755758647.160 [DAT](INFO): DAT read: Bearing 210.2, -51.6 (Local)

2025-08-21T06:44:07.160Z,1755758647.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 210.2, -51.6 (Local)

2025-08-21T06:44:07.162Z,1755758647.162 [DAT](INFO): DAT read: Range 11 to 50 : 166.8 m  (Round-trip  222.4 ms) speed -0.4 m/s

2025-08-21T06:44:07.165Z,1755758647.165 [DAT](INFO): DAT read: user:1851>

2025-08-21T06:44:07.166Z,1755758647.166 [DAT](INFO): DAT read: Tx time:06:44:06.3749

2025-08-21T06:44:07.166Z,1755758647.166 [DAT](INFO): Ping request sent.
2025-08-21T06:44:07.166Z,1755758647.166 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:07.167Z,1755758647.167 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:44:07.169Z,1755758647.169 [DAT](INFO): direction in FSK: [-0.588869,-0.759164,0.277315]
2025-08-21T06:44:07.169Z,1755758647.169 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:07.169Z,1755758647.169 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:07.174Z,1755758647.174 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:07.175Z,1755758647.175 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:07.278Z,1755758647.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 166.800003 m,
      deltaT: 3.780065 s,
      deltaX: 1.699997 m,
      approachRate: 0.449727 m/s,
      rangeRepo size: 4

2025-08-21T06:44:07.281Z,1755758647.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 165.920593 m,
      bearing: 134.641137 deg,
      lat: 36.779349 deg,
      lon: -121.859442 deg,
      deltaT: 3.780065 s,
      deltaX: 1.691040 m,
      approachRate: 0.447357 m/s,
      posRepo size: 4

2025-08-21T06:44:07.281Z,1755758647.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.92 m.
2025-08-21T06:44:07.301Z,1755758647.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.920593 m,
      nav range: 169.739578 m,
      bearing: 137.511259 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.207049 deg/s,
      cmd heading: 138.177036 deg,
      new cmd heading: 137.898677 deg.

2025-08-21T06:44:07.311Z,1755758647.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.406786 target range: 165.920593 and range: 166.80 m.
2025-08-21T06:44:07.681Z,1755758647.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.92 m.
2025-08-21T06:44:07.688Z,1755758647.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.920593 m,
      nav range: 169.909409 m,
      bearing: 137.424783 deg,
      approach rate: 0.420863 m/s,
      LOS rate: -0.214086 deg/s,
      cmd heading: 137.898678 deg,
      new cmd heading: 137.639510 deg.

2025-08-21T06:44:07.689Z,1755758647.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402263 target range: 165.920593 and range: 166.80 m.
2025-08-21T06:44:08.033Z,1755758648.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:08.035Z,1755758648.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.92 m.
2025-08-21T06:44:08.038Z,1755758648.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.920593 m,
      nav range: 170.045868 m,
      bearing: 137.349677 deg,
      approach rate: 0.385868 m/s,
      LOS rate: -0.212207 deg/s,
      cmd heading: 137.639513 deg,
      new cmd heading: 137.414378 deg.

2025-08-21T06:44:08.039Z,1755758648.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398333 target range: 165.920593 and range: 166.80 m.
2025-08-21T06:44:08.157Z,1755758648.157 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:08.157Z,1755758648.157 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:08.157Z,1755758648.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:08.408Z,1755758648.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241647
2025-08-21T06:44:08.486Z,1755758648.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.92 m.
2025-08-21T06:44:08.500Z,1755758648.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.920593 m,
      nav range: 170.199509 m,
      bearing: 137.262798 deg,
      approach rate: 0.340680 m/s,
      LOS rate: -0.192469 deg/s,
      cmd heading: 137.414377 deg,
      new cmd heading: 137.153978 deg.

2025-08-21T06:44:08.501Z,1755758648.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.393789 target range: 165.920593 and range: 166.80 m.
2025-08-21T06:44:08.660Z,1755758648.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493762
2025-08-21T06:44:08.853Z,1755758648.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.92 m.
2025-08-21T06:44:08.856Z,1755758648.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.920593 m,
      nav range: 170.341812 m,
      bearing: 137.179266 deg,
      approach rate: 0.387373 m/s,
      LOS rate: -0.227198 deg/s,
      cmd heading: 137.153982 deg,
      new cmd heading: 136.903597 deg.

2025-08-21T06:44:08.857Z,1755758648.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389419 target range: 165.920593 and range: 166.80 m.
2025-08-21T06:44:08.914Z,1755758648.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747327
2025-08-21T06:44:09.165Z,1755758649.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998213
2025-08-21T06:44:09.260Z,1755758649.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.92 m.
2025-08-21T06:44:09.263Z,1755758649.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.920593 m,
      nav range: 170.482391 m,
      bearing: 137.093449 deg,
      approach rate: 0.345244 m/s,
      LOS rate: -0.210582 deg/s,
      cmd heading: 136.903601 deg,
      new cmd heading: 136.646364 deg.

2025-08-21T06:44:09.264Z,1755758649.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384929 target range: 165.920593 and range: 166.80 m.
2025-08-21T06:44:09.416Z,1755758649.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249834
2025-08-21T06:44:09.668Z,1755758649.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501911
2025-08-21T06:44:09.699Z,1755758649.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.92 m.
2025-08-21T06:44:09.702Z,1755758649.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.920593 m,
      nav range: 170.627884 m,
      bearing: 137.001025 deg,
      approach rate: 0.331588 m/s,
      LOS rate: -0.210460 deg/s,
      cmd heading: 136.646363 deg,
      new cmd heading: 136.369331 deg.

2025-08-21T06:44:09.703Z,1755758649.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.380094 target range: 165.920593 and range: 166.80 m.
2025-08-21T06:44:09.920Z,1755758649.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753746
2025-08-21T06:44:10.067Z,1755758650.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:10.070Z,1755758650.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.92 m.
2025-08-21T06:44:10.072Z,1755758650.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.920593 m,
      nav range: 170.749817 m,
      bearing: 136.920499 deg,
      approach rate: 0.329140 m/s,
      LOS rate: -0.217214 deg/s,
      cmd heading: 136.369330 deg,
      new cmd heading: 136.127925 deg.

2025-08-21T06:44:10.073Z,1755758650.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.375880 target range: 165.920593 and range: 166.80 m.
2025-08-21T06:44:10.174Z,1755758650.174 [DAT](INFO): DAT read: Rx Time:06:44:09.0034

2025-08-21T06:44:10.174Z,1755758650.174 [DAT](INFO): Rx dataTimestamp_ set to:1755758650.173777
2025-08-21T06:44:10.175Z,1755758650.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008553
2025-08-21T06:44:10.424Z,1755758650.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257827
2025-08-21T06:44:10.526Z,1755758650.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.92 m.
2025-08-21T06:44:10.529Z,1755758650.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.920593 m,
      nav range: 170.902145 m,
      bearing: 136.821345 deg,
      approach rate: 0.333616 m/s,
      LOS rate: -0.216965 deg/s,
      cmd heading: 136.127924 deg,
      new cmd heading: 135.830730 deg.

2025-08-21T06:44:10.530Z,1755758650.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.370693 target range: 165.920593 and range: 166.80 m.
2025-08-21T06:44:10.682Z,1755758650.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514727
2025-08-21T06:44:10.889Z,1755758650.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.92 m.
2025-08-21T06:44:10.891Z,1755758650.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 165.920593 m,
      nav range: 171.021133 m,
      bearing: 136.740678 deg,
      approach rate: 0.328312 m/s,
      LOS rate: -0.222419 deg/s,
      cmd heading: 135.830729 deg,
      new cmd heading: 135.588900 deg.

2025-08-21T06:44:10.892Z,1755758650.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.366473 target range: 165.920593 and range: 166.80 m.
2025-08-21T06:44:10.937Z,1755758650.937 [DAT](INFO): DAT read: 06:44:09.0034 LVL= 32752, 30577, 25522, 32755, AGC= 68, IDX= 439,-0.31,-0.477, 1.174, 1.580, 1.058, PHS=-1.433, 0.161, 0.478, RAW= 261.1,   9.0, CAL= 260.0,   8.6, ROT= 250.0,  -8.6

2025-08-21T06:44:10.938Z,1755758650.938 [DAT](INFO): got valid direction response:
 06:44:09.0034 LVL= 32752, 30577, 25522, 32755, AGC= 68, IDX= 439,-0.31,-0.477, 1.174, 1.580, 1.058, PHS=-1.433, 0.161, 0.478, RAW= 261.1,   9.0, CAL= 260.0,   8.6, ROT= 250.0,  -8.6

2025-08-21T06:44:10.947Z,1755758650.947 [DAT](INFO): DAT read: Bearing 203.3, -71.2 (Local)

2025-08-21T06:44:10.948Z,1755758650.948 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.3, -71.2 (Local)

2025-08-21T06:44:10.960Z,1755758650.960 [DAT](INFO): DAT read: Range 11 to 50 : 168.3 m  (Round-trip  224.5 ms) speed -0.4 m/s

2025-08-21T06:44:10.961Z,1755758650.961 [DAT](INFO): DAT read: user:1852>

2025-08-21T06:44:10.962Z,1755758650.962 [DAT](INFO): DAT read: Tx time:06:44:10.1248

2025-08-21T06:44:10.972Z,1755758650.972 [DAT](INFO): Ping request sent.
2025-08-21T06:44:10.972Z,1755758650.972 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:10.973Z,1755758650.973 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:44:10.974Z,1755758650.974 [DAT](INFO): direction in FSK: [-0.338175,-0.929127,0.149535]
2025-08-21T06:44:10.975Z,1755758650.975 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:10.984Z,1755758650.984 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:10.996Z,1755758650.996 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:10.996Z,1755758650.996 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:11.300Z,1755758651.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 168.300003 m,
      deltaT: 3.779915 s,
      deltaX: 1.500000 m,
      approachRate: 0.396834 m/s,
      rangeRepo size: 4

2025-08-21T06:44:11.302Z,1755758651.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 167.412750 m,
      bearing: 142.013728 deg,
      lat: 36.779349 deg,
      lon: -121.859442 deg,
      deltaT: 3.779915 s,
      deltaX: 1.492157 m,
      approachRate: 0.394759 m/s,
      posRepo size: 4

2025-08-21T06:44:11.303Z,1755758651.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.41 m.
2025-08-21T06:44:11.306Z,1755758651.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.412750 m,
      nav range: 171.147263 m,
      bearing: 136.651445 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.222419 deg/s,
      cmd heading: 135.588899 deg,
      new cmd heading: 135.314571 deg.

2025-08-21T06:44:11.307Z,1755758651.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.361685 target range: 167.412750 and range: 168.30 m.
2025-08-21T06:44:11.727Z,1755758651.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.41 m.
2025-08-21T06:44:11.734Z,1755758651.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.412750 m,
      nav range: 171.281982 m,
      bearing: 136.556273 deg,
      approach rate: 0.315458 m/s,
      LOS rate: -0.222677 deg/s,
      cmd heading: 135.314572 deg,
      new cmd heading: 135.029284 deg.

2025-08-21T06:44:11.735Z,1755758651.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.356706 target range: 167.412750 and range: 168.30 m.
2025-08-21T06:44:12.089Z,1755758652.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:12.091Z,1755758652.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.41 m.
2025-08-21T06:44:12.094Z,1755758652.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.412750 m,
      nav range: 171.394699 m,
      bearing: 136.473074 deg,
      approach rate: 0.309480 m/s,
      LOS rate: -0.228284 deg/s,
      cmd heading: 135.029288 deg,
      new cmd heading: 134.779858 deg.

2025-08-21T06:44:12.099Z,1755758652.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.352352 target range: 167.412750 and range: 168.30 m.
2025-08-21T06:44:12.188Z,1755758652.188 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:12.188Z,1755758652.188 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:12.189Z,1755758652.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:12.446Z,1755758652.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473683
2025-08-21T06:44:12.557Z,1755758652.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.41 m.
2025-08-21T06:44:12.563Z,1755758652.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.412750 m,
      nav range: 171.527145 m,
      bearing: 136.370774 deg,
      approach rate: 0.284508 m/s,
      LOS rate: -0.219583 deg/s,
      cmd heading: 134.779863 deg,
      new cmd heading: 134.473201 deg.

2025-08-21T06:44:12.564Z,1755758652.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.347000 target range: 167.412750 and range: 168.30 m.
2025-08-21T06:44:12.696Z,1755758652.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724237
2025-08-21T06:44:12.901Z,1755758652.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.41 m.
2025-08-21T06:44:12.904Z,1755758652.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.412750 m,
      nav range: 171.625488 m,
      bearing: 136.291158 deg,
      approach rate: 0.287399 m/s,
      LOS rate: -0.232538 deg/s,
      cmd heading: 134.473202 deg,
      new cmd heading: 134.234492 deg.

2025-08-21T06:44:12.905Z,1755758652.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342834 target range: 167.412750 and range: 168.30 m.
2025-08-21T06:44:12.949Z,1755758652.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977157
2025-08-21T06:44:13.201Z,1755758653.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229095
2025-08-21T06:44:13.329Z,1755758653.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.41 m.
2025-08-21T06:44:13.332Z,1755758653.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.412750 m,
      nav range: 171.747543 m,
      bearing: 136.192840 deg,
      approach rate: 0.283641 m/s,
      LOS rate: -0.228315 deg/s,
      cmd heading: 134.234486 deg,
      new cmd heading: 133.939746 deg.

2025-08-21T06:44:13.333Z,1755758653.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.337690 target range: 167.412750 and range: 168.30 m.
2025-08-21T06:44:13.453Z,1755758653.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481029
2025-08-21T06:44:13.704Z,1755758653.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732298
2025-08-21T06:44:13.739Z,1755758653.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.41 m.
2025-08-21T06:44:13.742Z,1755758653.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.412750 m,
      nav range: 171.857147 m,
      bearing: 136.098666 deg,
      approach rate: 0.267513 m/s,
      LOS rate: -0.229705 deg/s,
      cmd heading: 133.939750 deg,
      new cmd heading: 133.657411 deg.

2025-08-21T06:44:13.743Z,1755758653.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332762 target range: 167.412750 and range: 168.30 m.
2025-08-21T06:44:13.958Z,1755758653.958 [DAT](INFO): DAT read: Rx Time:06:44:12.7549

2025-08-21T06:44:13.958Z,1755758653.958 [DAT](INFO): Rx dataTimestamp_ set to:1755758653.957857
2025-08-21T06:44:13.959Z,1755758653.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986686
2025-08-21T06:44:14.111Z,1755758654.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:14.113Z,1755758654.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.41 m.
2025-08-21T06:44:14.116Z,1755758654.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 167.412750 m,
      nav range: 171.952850 m,
      bearing: 136.012182 deg,
      approach rate: 0.255692 m/s,
      LOS rate: -0.230933 deg/s,
      cmd heading: 133.657417 deg,
      new cmd heading: 133.398112 deg.

2025-08-21T06:44:14.117Z,1755758654.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328236 target range: 167.412750 and range: 168.30 m.
2025-08-21T06:44:14.209Z,1755758654.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237104
2025-08-21T06:44:14.478Z,1755758654.478 [DAT](INFO): DAT read: 06:44:12.7549 LVL= 32752, 25041, 24098, 26179, AGC= 67, IDX= 439,-0.44, 2.894,-2.010,-1.160,-1.922, PHS=-1.365,-0.043, 0.719, RAW= 248.8,   7.6, CAL= 247.5,   7.9, ROT= 262.5,  -7.9

2025-08-21T06:44:14.491Z,1755758654.491 [DAT](INFO): got valid direction response:
 06:44:12.7549 LVL= 32752, 25041, 24098, 26179, AGC= 67, IDX= 439,-0.44, 2.894,-2.010,-1.160,-1.922, PHS=-1.365,-0.043, 0.719, RAW= 248.8,   7.6, CAL= 247.5,   7.9, ROT= 262.5,  -7.9

2025-08-21T06:44:14.492Z,1755758654.492 [DAT](INFO): DAT read: Bearing 161.7, -82.8 (Local)

2025-08-21T06:44:14.493Z,1755758654.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.7, -82.8 (Local)

2025-08-21T06:44:14.494Z,1755758654.494 [DAT](INFO): DAT read: Range 11 to 50 : 169.5 m  (Round-trip  226.0 ms) speed -0.3 m/s

2025-08-21T06:44:14.495Z,1755758654.495 [DAT](INFO): DAT read: user:1853>

2025-08-21T06:44:14.503Z,1755758654.503 [DAT](INFO): DAT read: Tx time:06:44:13.8748

2025-08-21T06:44:14.503Z,1755758654.503 [DAT](INFO): Ping request sent.
2025-08-21T06:44:14.503Z,1755758654.503 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:14.507Z,1755758654.507 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:44:14.508Z,1755758654.508 [DAT](INFO): direction in FSK: [-0.129288,-0.982035,0.137445]
2025-08-21T06:44:14.509Z,1755758654.509 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:14.509Z,1755758654.509 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:14.520Z,1755758654.520 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:14.521Z,1755758654.521 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:14.630Z,1755758654.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 169.500000 m,
      deltaT: 3.533591 s,
      deltaX: 1.199997 m,
      approachRate: 0.339597 m/s,
      rangeRepo size: 4

2025-08-21T06:44:14.636Z,1755758654.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 168.606781 m,
      bearing: 144.816630 deg,
      lat: 36.779349 deg,
      lon: -121.859456 deg,
      deltaT: 3.533591 s,
      deltaX: 1.194031 m,
      approachRate: 0.337909 m/s,
      posRepo size: 4

2025-08-21T06:44:14.637Z,1755758654.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.61 m.
2025-08-21T06:44:14.657Z,1755758654.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.606781 m,
      nav range: 171.186127 m,
      bearing: 136.199174 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.230933 deg/s,
      cmd heading: 133.398116 deg,
      new cmd heading: 133.040438 deg.

2025-08-21T06:44:14.657Z,1755758654.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321994 target range: 168.606781 and range: 169.50 m.
2025-08-21T06:44:14.966Z,1755758654.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.61 m.
2025-08-21T06:44:14.969Z,1755758654.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.606781 m,
      nav range: 171.256912 m,
      bearing: 136.119188 deg,
      approach rate: 0.212140 m/s,
      LOS rate: -0.239616 deg/s,
      cmd heading: 133.040433 deg,
      new cmd heading: 132.800574 deg.

2025-08-21T06:44:14.970Z,1755758654.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.317807 target range: 168.606781 and range: 169.50 m.
2025-08-21T06:44:15.348Z,1755758655.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.61 m.
2025-08-21T06:44:15.350Z,1755758655.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.606781 m,
      nav range: 171.333954 m,
      bearing: 136.026392 deg,
      approach rate: 0.200244 m/s,
      LOS rate: -0.241083 deg/s,
      cmd heading: 132.800570 deg,
      new cmd heading: 132.522311 deg.

2025-08-21T06:44:15.368Z,1755758655.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.312951 target range: 168.606781 and range: 169.50 m.
2025-08-21T06:44:15.790Z,1755758655.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.61 m.
2025-08-21T06:44:15.797Z,1755758655.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.606781 m,
      nav range: 171.414627 m,
      bearing: 135.925430 deg,
      approach rate: 0.182602 m/s,
      LOS rate: -0.228418 deg/s,
      cmd heading: 132.522308 deg,
      new cmd heading: 132.219567 deg.

2025-08-21T06:44:15.797Z,1755758655.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307667 target range: 168.606781 and range: 169.50 m.
2025-08-21T06:44:16.185Z,1755758656.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:16.188Z,1755758656.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.61 m.
2025-08-21T06:44:16.190Z,1755758656.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.606781 m,
      nav range: 171.491226 m,
      bearing: 135.830258 deg,
      approach rate: 0.192759 m/s,
      LOS rate: -0.239389 deg/s,
      cmd heading: 132.219567 deg,
      new cmd heading: 131.934182 deg.

2025-08-21T06:44:16.191Z,1755758656.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.302686 target range: 168.606781 and range: 169.50 m.
2025-08-21T06:44:16.225Z,1755758656.225 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:16.225Z,1755758656.225 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:16.226Z,1755758656.226 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:16.476Z,1755758656.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973365
2025-08-21T06:44:16.592Z,1755758656.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.61 m.
2025-08-21T06:44:16.595Z,1755758656.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.606781 m,
      nav range: 171.562363 m,
      bearing: 135.732091 deg,
      approach rate: 0.175604 m/s,
      LOS rate: -0.242229 deg/s,
      cmd heading: 131.934188 deg,
      new cmd heading: 131.639812 deg.

2025-08-21T06:44:16.612Z,1755758656.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.297548 target range: 168.606781 and range: 169.50 m.
2025-08-21T06:44:16.729Z,1755758656.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225710
2025-08-21T06:44:16.979Z,1755758656.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.61 m.
2025-08-21T06:44:16.980Z,1755758656.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477399
2025-08-21T06:44:16.983Z,1755758656.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.606781 m,
      nav range: 171.623672 m,
      bearing: 135.640712 deg,
      approach rate: 0.158623 m/s,
      LOS rate: -0.236334 deg/s,
      cmd heading: 131.639807 deg,
      new cmd heading: 131.365770 deg.

2025-08-21T06:44:16.984Z,1755758656.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.292765 target range: 168.606781 and range: 169.50 m.
2025-08-21T06:44:17.232Z,1755758657.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729293
2025-08-21T06:44:17.393Z,1755758657.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.61 m.
2025-08-21T06:44:17.396Z,1755758657.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.606781 m,
      nav range: 171.682098 m,
      bearing: 135.546511 deg,
      approach rate: 0.140959 m/s,
      LOS rate: -0.227192 deg/s,
      cmd heading: 131.365766 deg,
      new cmd heading: 131.083261 deg.

2025-08-21T06:44:17.397Z,1755758657.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287834 target range: 168.606781 and range: 169.50 m.
2025-08-21T06:44:17.487Z,1755758657.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983712
2025-08-21T06:44:17.736Z,1755758657.736 [DAT](INFO): DAT read: Rx Time:06:44:16.5062

2025-08-21T06:44:17.737Z,1755758657.737 [DAT](INFO): Rx dataTimestamp_ set to:1755758657.736419
2025-08-21T06:44:17.737Z,1755758657.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234317
2025-08-21T06:44:17.817Z,1755758657.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.61 m.
2025-08-21T06:44:17.820Z,1755758657.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.606781 m,
      nav range: 171.745560 m,
      bearing: 135.441883 deg,
      approach rate: 0.149786 m/s,
      LOS rate: -0.246861 deg/s,
      cmd heading: 131.083256 deg,
      new cmd heading: 130.769489 deg.

2025-08-21T06:44:17.820Z,1755758657.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282358 target range: 168.606781 and range: 169.50 m.
2025-08-21T06:44:17.989Z,1755758657.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486221
2025-08-21T06:44:18.246Z,1755758658.246 [DAT](INFO): DAT read: 06:44:16.5062 LVL= 32400, 28337, 23842, 30707, AGC= 64, IDX= 436, 0.13, 1.414, 2.807,-2.601, 2.825, PHS=-1.309, 0.027, 0.813, RAW= 248.5,   5.1, CAL= 246.0,   5.0, ROT= 264.0,  -5.0

2025-08-21T06:44:18.247Z,1755758658.247 [DAT](INFO): got valid direction response:
 06:44:16.5062 LVL= 32400, 28337, 23842, 30707, AGC= 64, IDX= 436, 0.13, 1.414, 2.807,-2.601, 2.825, PHS=-1.309, 0.027, 0.813, RAW= 248.5,   5.1, CAL= 246.0,   5.0, ROT= 264.0,  -5.0

2025-08-21T06:44:18.248Z,1755758658.248 [DAT](INFO): DAT read: Bearing 156.5, -86.6 (Local)

2025-08-21T06:44:18.248Z,1755758658.248 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.5, -86.6 (Local)

2025-08-21T06:44:18.250Z,1755758658.250 [DAT](INFO): DAT read: Range 11 to 50 : 170.4 m  (Round-trip  227.3 ms) speed  0.0 m/s

2025-08-21T06:44:18.251Z,1755758658.251 [DAT](INFO): DAT read: user:1854>

2025-08-21T06:44:18.251Z,1755758658.251 [DAT](INFO): DAT read: Tx time:06:44:17.6248

2025-08-21T06:44:18.252Z,1755758658.252 [DAT](INFO): Ping request sent.
2025-08-21T06:44:18.252Z,1755758658.252 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:18.252Z,1755758658.252 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:44:18.253Z,1755758658.253 [DAT](INFO): direction in FSK: [-0.104131,-0.990737,0.087156]
2025-08-21T06:44:18.253Z,1755758658.253 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:18.254Z,1755758658.254 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:18.257Z,1755758658.257 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:18.257Z,1755758658.257 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:18.270Z,1755758658.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 170.399994 m,
      deltaT: 3.778191 s,
      deltaX: 0.899994 m,
      approachRate: 0.238208 m/s,
      rangeRepo size: 4

2025-08-21T06:44:18.297Z,1755758658.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 169.502411 m,
      bearing: 136.923816 deg,
      lat: 36.779342 deg,
      lon: -121.859521 deg,
      deltaT: 3.778191 s,
      deltaX: 0.895630 m,
      approachRate: 0.237053 m/s,
      posRepo size: 4

2025-08-21T06:44:18.298Z,1755758658.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m.
2025-08-21T06:44:18.309Z,1755758658.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.502411 m,
      nav range: 168.415695 m,
      bearing: 136.923222 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.246861 deg/s,
      cmd heading: 130.769490 deg,
      new cmd heading: 130.434298 deg.

2025-08-21T06:44:18.310Z,1755758658.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276508 target range: 169.502411 and range: 170.40 m.
2025-08-21T06:44:18.699Z,1755758658.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:18.701Z,1755758658.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m.
2025-08-21T06:44:18.704Z,1755758658.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.502411 m,
      nav range: 168.473099 m,
      bearing: 136.812710 deg,
      approach rate: 0.132847 m/s,
      LOS rate: -0.255666 deg/s,
      cmd heading: 130.434292 deg,
      new cmd heading: 130.102873 deg.

2025-08-21T06:44:18.705Z,1755758658.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270724 target range: 169.502411 and range: 170.40 m.
2025-08-21T06:44:18.744Z,1755758658.744 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:18.745Z,1755758658.745 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:18.745Z,1755758658.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:18.996Z,1755758658.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744263
2025-08-21T06:44:19.089Z,1755758659.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m.
2025-08-21T06:44:19.092Z,1755758659.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.502411 m,
      nav range: 168.520645 m,
      bearing: 136.722093 deg,
      approach rate: 0.122634 m/s,
      LOS rate: -0.233656 deg/s,
      cmd heading: 130.102878 deg,
      new cmd heading: 129.831107 deg.

2025-08-21T06:44:19.093Z,1755758659.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.265980 target range: 169.502411 and range: 170.40 m.
2025-08-21T06:44:19.248Z,1755758659.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996287
2025-08-21T06:44:19.486Z,1755758659.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m.
2025-08-21T06:44:19.503Z,1755758659.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250646
2025-08-21T06:44:19.534Z,1755758659.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.502411 m,
      nav range: 168.555145 m,
      bearing: 136.626231 deg,
      approach rate: 0.087324 m/s,
      LOS rate: -0.242588 deg/s,
      cmd heading: 129.831104 deg,
      new cmd heading: 129.543579 deg.

2025-08-21T06:44:19.535Z,1755758659.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.260962 target range: 169.502411 and range: 170.40 m.
2025-08-21T06:44:19.752Z,1755758659.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500336
2025-08-21T06:44:19.917Z,1755758659.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m.
2025-08-21T06:44:19.927Z,1755758659.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.502411 m,
      nav range: 168.591812 m,
      bearing: 136.520519 deg,
      approach rate: 0.084802 m/s,
      LOS rate: -0.244434 deg/s,
      cmd heading: 129.543581 deg,
      new cmd heading: 129.226518 deg.

2025-08-21T06:44:19.937Z,1755758659.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255428 target range: 169.502411 and range: 170.40 m.
2025-08-21T06:44:20.004Z,1755758660.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752414
2025-08-21T06:44:20.256Z,1755758660.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004349
2025-08-21T06:44:20.305Z,1755758660.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m.
2025-08-21T06:44:20.307Z,1755758660.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.502411 m,
      nav range: 168.620239 m,
      bearing: 136.424673 deg,
      approach rate: 0.073281 m/s,
      LOS rate: -0.247037 deg/s,
      cmd heading: 129.226523 deg,
      new cmd heading: 128.939035 deg.

2025-08-21T06:44:20.308Z,1755758660.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250411 target range: 169.502411 and range: 170.40 m.
2025-08-21T06:44:20.512Z,1755758660.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259898
2025-08-21T06:44:20.761Z,1755758660.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508678
2025-08-21T06:44:20.761Z,1755758660.761 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:20.764Z,1755758660.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m.
2025-08-21T06:44:20.766Z,1755758660.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.502411 m,
      nav range: 168.659348 m,
      bearing: 136.318025 deg,
      approach rate: 0.085260 m/s,
      LOS rate: -0.232448 deg/s,
      cmd heading: 128.939041 deg,
      new cmd heading: 128.619176 deg.

2025-08-21T06:44:20.767Z,1755758660.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.244828 target range: 169.502411 and range: 170.40 m.
2025-08-21T06:44:21.013Z,1755758661.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761546
2025-08-21T06:44:21.121Z,1755758661.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m.
2025-08-21T06:44:21.128Z,1755758661.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.502411 m,
      nav range: 168.682709 m,
      bearing: 136.228108 deg,
      approach rate: 0.065295 m/s,
      LOS rate: -0.251287 deg/s,
      cmd heading: 128.619169 deg,
      new cmd heading: 128.349457 deg.

2025-08-21T06:44:21.129Z,1755758661.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240121 target range: 169.502411 and range: 170.40 m.
2025-08-21T06:44:21.265Z,1755758661.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012662
2025-08-21T06:44:21.505Z,1755758661.505 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:44:21.519Z,1755758661.519 [DAT](INFO): DAT read: Rx Time:06:44:20.2569

2025-08-21T06:44:21.521Z,1755758661.521 [DAT](INFO): Rx dataTimestamp_ set to:1755758661.519997
2025-08-21T06:44:21.522Z,1755758661.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270030
2025-08-21T06:44:21.621Z,1755758661.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 169.50 m.
2025-08-21T06:44:21.627Z,1755758661.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 169.502411 m,
      nav range: 168.708588 m,
      bearing: 136.104467 deg,
      approach rate: 0.051795 m/s,
      LOS rate: -0.247421 deg/s,
      cmd heading: 128.349459 deg,
      new cmd heading: 127.978600 deg.

2025-08-21T06:44:21.628Z,1755758661.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233648 target range: 169.502411 and range: 170.40 m.
2025-08-21T06:44:21.768Z,1755758661.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516338
2025-08-21T06:44:22.026Z,1755758662.026 [DAT](INFO): DAT read: 06:44:20.2569 LVL= 29760, 25057, 18258, 27011, AGC= 65, IDX= 443, 0.31, 1.602, 2.828,-2.236, 3.009, PHS=-1.306,-0.136, 0.994, RAW= 240.6,   4.5, CAL= 238.5,   5.2, ROT= 271.5,  -5.2

2025-08-21T06:44:22.027Z,1755758662.027 [DAT](INFO): got valid direction response:
 06:44:20.2569 LVL= 29760, 25057, 18258, 27011, AGC= 65, IDX= 443, 0.31, 1.602, 2.828,-2.236, 3.009, PHS=-1.306,-0.136, 0.994, RAW= 240.6,   4.5, CAL= 238.5,   5.2, ROT= 271.5,  -5.2

2025-08-21T06:44:22.028Z,1755758662.028 [DAT](INFO): DAT read: Bearing  39.3, -83.7 (Local)

2025-08-21T06:44:22.028Z,1755758662.028 [DAT](INFO): Local bearing/azimuth received:
 Bearing  39.3, -83.7 (Local)

2025-08-21T06:44:22.030Z,1755758662.030 [DAT](INFO): DAT read: Range 11 to 50 : 171.0 m  (Round-trip  228.0 ms) speed  0.0 m/s

2025-08-21T06:44:22.030Z,1755758662.030 [DAT](INFO): DAT read: user:1855>

2025-08-21T06:44:22.031Z,1755758662.031 [DAT](INFO): DAT read: Tx time:06:44:21.3748

2025-08-21T06:44:22.032Z,1755758662.032 [DAT](INFO): Ping request sent.
2025-08-21T06:44:22.032Z,1755758662.032 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:22.032Z,1755758662.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:44:22.033Z,1755758662.033 [DAT](INFO): direction in FSK: [0.026069,-0.995543,0.090633]
2025-08-21T06:44:22.033Z,1755758662.033 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:22.033Z,1755758662.033 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:22.037Z,1755758662.037 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:22.037Z,1755758662.037 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:22.092Z,1755758662.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 171.000000 m,
      deltaT: 3.779891 s,
      deltaX: 0.600006 m,
      approachRate: 0.158736 m/s,
      rangeRepo size: 4

2025-08-21T06:44:22.094Z,1755758662.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 170.099442 m,
      bearing: 134.667855 deg,
      lat: 36.779342 deg,
      lon: -121.859521 deg,
      deltaT: 3.779891 s,
      deltaX: 0.597031 m,
      approachRate: 0.157949 m/s,
      posRepo size: 4

2025-08-21T06:44:22.095Z,1755758662.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.10 m.
2025-08-21T06:44:22.112Z,1755758662.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.099442 m,
      nav range: 168.728134 m,
      bearing: 135.992861 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.247421 deg/s,
      cmd heading: 127.978593 deg,
      new cmd heading: 127.632283 deg.

2025-08-21T06:44:22.113Z,1755758662.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.227604 target range: 170.099442 and range: 171.00 m.
2025-08-21T06:44:22.486Z,1755758662.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.10 m.
2025-08-21T06:44:22.489Z,1755758662.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.099442 m,
      nav range: 168.740891 m,
      bearing: 135.890445 deg,
      approach rate: 0.031987 m/s,
      LOS rate: -0.256790 deg/s,
      cmd heading: 127.632289 deg,
      new cmd heading: 127.325065 deg.

2025-08-21T06:44:22.490Z,1755758662.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.222242 target range: 170.099442 and range: 171.00 m.
2025-08-21T06:44:22.509Z,1755758662.509 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:44:22.927Z,1755758662.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:22.931Z,1755758662.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.10 m.
2025-08-21T06:44:22.958Z,1755758662.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.099442 m,
      nav range: 168.761398 m,
      bearing: 135.783913 deg,
      approach rate: 0.046224 m/s,
      LOS rate: -0.240091 deg/s,
      cmd heading: 127.325067 deg,
      new cmd heading: 127.005514 deg.

2025-08-21T06:44:22.958Z,1755758662.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.216664 target range: 170.099442 and range: 171.00 m.
2025-08-21T06:44:23.029Z,1755758663.029 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:23.029Z,1755758663.029 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:23.030Z,1755758663.030 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:23.280Z,1755758663.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248596
2025-08-21T06:44:23.338Z,1755758663.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.10 m.
2025-08-21T06:44:23.341Z,1755758663.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.099442 m,
      nav range: 168.781433 m,
      bearing: 135.682720 deg,
      approach rate: 0.049016 m/s,
      LOS rate: -0.247545 deg/s,
      cmd heading: 127.005510 deg,
      new cmd heading: 126.701971 deg.

2025-08-21T06:44:23.342Z,1755758663.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.211367 target range: 170.099442 and range: 171.00 m.
2025-08-21T06:44:23.534Z,1755758663.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502332
2025-08-21T06:44:23.754Z,1755758663.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.10 m.
2025-08-21T06:44:23.757Z,1755758663.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.099442 m,
      nav range: 168.783157 m,
      bearing: 135.583690 deg,
      approach rate: 0.004145 m/s,
      LOS rate: -0.238054 deg/s,
      cmd heading: 126.701976 deg,
      new cmd heading: 126.404890 deg.

2025-08-21T06:44:23.758Z,1755758663.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.206182 target range: 170.099442 and range: 171.00 m.
2025-08-21T06:44:23.784Z,1755758663.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752454
2025-08-21T06:44:24.037Z,1755758664.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004874
2025-08-21T06:44:24.152Z,1755758664.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.10 m.
2025-08-21T06:44:24.173Z,1755758664.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.099442 m,
      nav range: 168.775574 m,
      bearing: 135.490068 deg,
      approach rate: -0.019104 m/s,
      LOS rate: -0.235850 deg/s,
      cmd heading: 126.404890 deg,
      new cmd heading: 126.124014 deg.

2025-08-21T06:44:24.175Z,1755758664.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201279 target range: 170.099442 and range: 171.00 m.
2025-08-21T06:44:24.289Z,1755758664.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256941
2025-08-21T06:44:24.544Z,1755758664.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511957
2025-08-21T06:44:24.610Z,1755758664.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.10 m.
2025-08-21T06:44:24.617Z,1755758664.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.099442 m,
      nav range: 168.762589 m,
      bearing: 135.388991 deg,
      approach rate: -0.028322 m/s,
      LOS rate: -0.220474 deg/s,
      cmd heading: 126.124019 deg,
      new cmd heading: 125.820769 deg.

2025-08-21T06:44:24.618Z,1755758664.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.195987 target range: 170.099442 and range: 171.00 m.
2025-08-21T06:44:24.792Z,1755758664.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760592
2025-08-21T06:44:24.986Z,1755758664.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:24.989Z,1755758664.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.10 m.
2025-08-21T06:44:24.992Z,1755758664.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.099442 m,
      nav range: 168.749207 m,
      bearing: 135.288425 deg,
      approach rate: -0.035331 m/s,
      LOS rate: -0.265533 deg/s,
      cmd heading: 125.820773 deg,
      new cmd heading: 125.519054 deg.

2025-08-21T06:44:24.993Z,1755758664.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.190721 target range: 170.099442 and range: 171.00 m.
2025-08-21T06:44:25.045Z,1755758665.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013341
2025-08-21T06:44:25.296Z,1755758665.296 [DAT](INFO): DAT read: Rx Time:06:44:24.0074

2025-08-21T06:44:25.297Z,1755758665.297 [DAT](INFO): Rx dataTimestamp_ set to:1755758665.296421
2025-08-21T06:44:25.297Z,1755758665.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265592
2025-08-21T06:44:25.351Z,1755758665.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.10 m.
2025-08-21T06:44:25.369Z,1755758665.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.099442 m,
      nav range: 168.733292 m,
      bearing: 135.200824 deg,
      approach rate: -0.043970 m/s,
      LOS rate: -0.242050 deg/s,
      cmd heading: 125.519056 deg,
      new cmd heading: 125.256230 deg.

2025-08-21T06:44:25.370Z,1755758665.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186134 target range: 170.099442 and range: 171.00 m.
2025-08-21T06:44:25.548Z,1755758665.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516595
2025-08-21T06:44:25.782Z,1755758665.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.10 m.
2025-08-21T06:44:25.785Z,1755758665.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.099442 m,
      nav range: 168.710312 m,
      bearing: 135.097467 deg,
      approach rate: -0.053239 m/s,
      LOS rate: -0.239488 deg/s,
      cmd heading: 125.256230 deg,
      new cmd heading: 124.946120 deg.

2025-08-21T06:44:25.786Z,1755758665.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.180721 target range: 170.099442 and range: 171.00 m.
2025-08-21T06:44:25.806Z,1755758665.806 [DAT](INFO): DAT read: 06:44:24.0074 LVL= 32752, 32753, 32754, 31651, AGC= 61, IDX= 448,-0.13, 2.408,-3.035,-1.448,-2.641, PHS=-1.133,-0.349, 1.149, RAW= 229.8,   3.4, CAL= 228.0,   4.2, ROT= 282.0,  -4.2

2025-08-21T06:44:25.807Z,1755758665.807 [DAT](INFO): got valid direction response:
 06:44:24.0074 LVL= 32752, 32753, 32754, 31651, AGC= 61, IDX= 448,-0.13, 2.408,-3.035,-1.448,-2.641, PHS=-1.133,-0.349, 1.149, RAW= 229.8,   3.4, CAL= 228.0,   4.2, ROT= 282.0,  -4.2

2025-08-21T06:44:25.808Z,1755758665.808 [DAT](INFO): DAT read: Bearing   7.9, -73.4 (Local)

2025-08-21T06:44:25.808Z,1755758665.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.9, -73.4 (Local)

2025-08-21T06:44:25.810Z,1755758665.810 [DAT](INFO): DAT read: Range 11 to 50 : 171.3 m  (Round-trip  228.5 ms) speed  0.0 m/s

2025-08-21T06:44:25.811Z,1755758665.811 [DAT](INFO): DAT read: user:1856>

2025-08-21T06:44:25.812Z,1755758665.812 [DAT](INFO): DAT read: Tx time:06:44:25.1248

2025-08-21T06:44:25.812Z,1755758665.812 [DAT](INFO): Ping request sent.
2025-08-21T06:44:25.812Z,1755758665.812 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:25.813Z,1755758665.813 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:44:25.814Z,1755758665.814 [DAT](INFO): direction in FSK: [0.207353,-0.975521,0.073238]
2025-08-21T06:44:25.814Z,1755758665.814 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:25.814Z,1755758665.814 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:25.818Z,1755758665.818 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:25.818Z,1755758665.818 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:26.238Z,1755758666.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 171.300003 m,
      deltaT: 3.780017 s,
      deltaX: 0.300003 m,
      approachRate: 0.079366 m/s,
      rangeRepo size: 4

2025-08-21T06:44:26.240Z,1755758666.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 170.397980 m,
      bearing: 133.703754 deg,
      lat: 36.779342 deg,
      lon: -121.859521 deg,
      deltaT: 3.780017 s,
      deltaX: 0.298538 m,
      approachRate: 0.078978 m/s,
      posRepo size: 4

2025-08-21T06:44:26.241Z,1755758666.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.40 m.
2025-08-21T06:44:26.244Z,1755758666.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.397980 m,
      nav range: 168.681198 m,
      bearing: 134.989737 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.239488 deg/s,
      cmd heading: 124.946126 deg,
      new cmd heading: 124.619130 deg.

2025-08-21T06:44:26.245Z,1755758666.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.175014 target range: 170.397980 and range: 171.30 m.
2025-08-21T06:44:26.681Z,1755758666.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.40 m.
2025-08-21T06:44:26.700Z,1755758666.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.397980 m,
      nav range: 168.653854 m,
      bearing: 134.883606 deg,
      approach rate: -0.061630 m/s,
      LOS rate: -0.239246 deg/s,
      cmd heading: 124.619124 deg,
      new cmd heading: 124.300683 deg.

2025-08-21T06:44:26.701Z,1755758666.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.169456 target range: 170.397980 and range: 171.30 m.
2025-08-21T06:44:27.039Z,1755758667.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:27.041Z,1755758667.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.40 m.
2025-08-21T06:44:27.044Z,1755758667.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.397980 m,
      nav range: 168.627838 m,
      bearing: 134.798623 deg,
      approach rate: -0.072218 m/s,
      LOS rate: -0.235938 deg/s,
      cmd heading: 124.300687 deg,
      new cmd heading: 124.045701 deg.

2025-08-21T06:44:27.045Z,1755758667.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.165006 target range: 170.397980 and range: 171.30 m.
2025-08-21T06:44:27.064Z,1755758667.064 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:27.064Z,1755758667.064 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:27.064Z,1755758667.064 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:27.317Z,1755758667.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504591
2025-08-21T06:44:27.448Z,1755758667.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.40 m.
2025-08-21T06:44:27.450Z,1755758667.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.397980 m,
      nav range: 168.593689 m,
      bearing: 134.702697 deg,
      approach rate: -0.084073 m/s,
      LOS rate: -0.236210 deg/s,
      cmd heading: 124.045702 deg,
      new cmd heading: 123.757869 deg.

2025-08-21T06:44:27.467Z,1755758667.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.159982 target range: 170.397980 and range: 171.30 m.
2025-08-21T06:44:27.564Z,1755758667.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751785
2025-08-21T06:44:27.816Z,1755758667.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003918
2025-08-21T06:44:27.870Z,1755758667.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.40 m.
2025-08-21T06:44:27.873Z,1755758667.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.397980 m,
      nav range: 168.552551 m,
      bearing: 134.603261 deg,
      approach rate: -0.097430 m/s,
      LOS rate: -0.235561 deg/s,
      cmd heading: 123.757864 deg,
      new cmd heading: 123.459485 deg.

2025-08-21T06:44:27.873Z,1755758667.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.154774 target range: 170.397980 and range: 171.30 m.
2025-08-21T06:44:28.069Z,1755758668.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256311
2025-08-21T06:44:28.247Z,1755758668.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.40 m.
2025-08-21T06:44:28.250Z,1755758668.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.397980 m,
      nav range: 168.511505 m,
      bearing: 134.514594 deg,
      approach rate: -0.108755 m/s,
      LOS rate: -0.234987 deg/s,
      cmd heading: 123.459480 deg,
      new cmd heading: 123.193418 deg.

2025-08-21T06:44:28.251Z,1755758668.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.150131 target range: 170.397980 and range: 171.30 m.
2025-08-21T06:44:28.322Z,1755758668.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509942
2025-08-21T06:44:28.575Z,1755758668.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762091
2025-08-21T06:44:28.723Z,1755758668.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.40 m.
2025-08-21T06:44:28.730Z,1755758668.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.397980 m,
      nav range: 168.456955 m,
      bearing: 134.406002 deg,
      approach rate: -0.114697 m/s,
      LOS rate: -0.228400 deg/s,
      cmd heading: 123.193417 deg,
      new cmd heading: 122.867537 deg.

2025-08-21T06:44:28.730Z,1755758668.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.144443 target range: 170.397980 and range: 171.30 m.
2025-08-21T06:44:28.825Z,1755758668.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012929
2025-08-21T06:44:29.076Z,1755758669.076 [DAT](INFO): DAT read: Rx Time:06:44:27.7572

2025-08-21T06:44:29.077Z,1755758669.077 [DAT](INFO): Rx dataTimestamp_ set to:1755758669.076557
2025-08-21T06:44:29.077Z,1755758669.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264964
2025-08-21T06:44:29.087Z,1755758669.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:29.089Z,1755758669.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.40 m.
2025-08-21T06:44:29.092Z,1755758669.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.397980 m,
      nav range: 168.408127 m,
      bearing: 134.317575 deg,
      approach rate: -0.133206 m/s,
      LOS rate: -0.241303 deg/s,
      cmd heading: 122.867535 deg,
      new cmd heading: 122.602180 deg.

2025-08-21T06:44:29.093Z,1755758669.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.139812 target range: 170.397980 and range: 171.30 m.
2025-08-21T06:44:29.329Z,1755758669.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516842
2025-08-21T06:44:29.503Z,1755758669.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.40 m.
2025-08-21T06:44:29.505Z,1755758669.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.397980 m,
      nav range: 168.350067 m,
      bearing: 134.221140 deg,
      approach rate: -0.140453 m/s,
      LOS rate: -0.233368 deg/s,
      cmd heading: 122.602182 deg,
      new cmd heading: 122.312780 deg.

2025-08-21T06:44:29.506Z,1755758669.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.134761 target range: 170.397980 and range: 171.30 m.
2025-08-21T06:44:29.589Z,1755758669.589 [DAT](INFO): DAT read: 06:44:27.7572 LVL= 31952, 32753, 21586, 31555, AGC= 62, IDX= 446, 0.50,-1.891,-1.607, 0.496,-0.848, PHS=-0.941,-0.714, 1.301, RAW= 215.3,   3.3, CAL= 214.5,   3.1, ROT= 295.5,  -3.1

2025-08-21T06:44:29.591Z,1755758669.591 [DAT](INFO): got valid direction response:
 06:44:27.7572 LVL= 31952, 32753, 21586, 31555, AGC= 62, IDX= 446, 0.50,-1.891,-1.607, 0.496,-0.848, PHS=-0.941,-0.714, 1.301, RAW= 215.3,   3.3, CAL= 214.5,   3.1, ROT= 295.5,  -3.1

2025-08-21T06:44:29.593Z,1755758669.593 [DAT](INFO): DAT read: Bearing 355.2, -59.6 (Local)

2025-08-21T06:44:29.593Z,1755758669.593 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.2, -59.6 (Local)

2025-08-21T06:44:29.594Z,1755758669.594 [DAT](INFO): DAT read: Range 11 to 50 : 171.2 m  (Round-trip  228.3 ms) speed  0.0 m/s

2025-08-21T06:44:29.599Z,1755758669.599 [DAT](INFO): DAT read: user:1857>

2025-08-21T06:44:29.600Z,1755758669.600 [DAT](INFO): DAT read: Tx time:06:44:28.8748

2025-08-21T06:44:29.600Z,1755758669.600 [DAT](INFO): Ping request sent.
2025-08-21T06:44:29.600Z,1755758669.600 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:29.601Z,1755758669.601 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:44:29.606Z,1755758669.606 [DAT](INFO): direction in FSK: [0.429881,-0.901265,0.054079]
2025-08-21T06:44:29.606Z,1755758669.606 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:29.607Z,1755758669.607 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:29.610Z,1755758669.610 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:29.610Z,1755758669.610 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:29.967Z,1755758669.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 171.199997 m,
      deltaT: 3.780632 s,
      deltaX: -0.100006 m,
      approachRate: -0.026452 m/s,
      rangeRepo size: 4

2025-08-21T06:44:29.973Z,1755758669.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 170.298752 m,
      bearing: 137.955848 deg,
      lat: 36.779342 deg,
      lon: -121.859521 deg,
      deltaT: 3.780632 s,
      deltaX: -0.099228 m,
      approachRate: -0.026246 m/s,
      posRepo size: 4

2025-08-21T06:44:29.974Z,1755758669.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:29.981Z,1755758669.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 168.284225 m,
      bearing: 134.117376 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.233368 deg/s,
      cmd heading: 122.312774 deg,
      new cmd heading: 121.988199 deg.

2025-08-21T06:44:29.982Z,1755758669.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.129096 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:30.326Z,1755758670.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:30.333Z,1755758670.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 168.227081 m,
      bearing: 134.034027 deg,
      approach rate: -0.158885 m/s,
      LOS rate: -0.231826 deg/s,
      cmd heading: 121.988203 deg,
      new cmd heading: 121.738071 deg.

2025-08-21T06:44:30.334Z,1755758670.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.124730 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:30.816Z,1755758670.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:30.819Z,1755758670.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 168.135757 m,
      bearing: 133.916383 deg,
      approach rate: -0.186284 m/s,
      LOS rate: -0.240101 deg/s,
      cmd heading: 121.738068 deg,
      new cmd heading: 121.384951 deg.

2025-08-21T06:44:30.821Z,1755758670.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118567 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:31.208Z,1755758671.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:31.210Z,1755758671.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:31.213Z,1755758671.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 168.060410 m,
      bearing: 133.825423 deg,
      approach rate: -0.191308 m/s,
      LOS rate: -0.231051 deg/s,
      cmd heading: 121.384947 deg,
      new cmd heading: 121.111946 deg.

2025-08-21T06:44:31.214Z,1755758671.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.113802 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:31.345Z,1755758671.345 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:31.345Z,1755758671.345 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:31.345Z,1755758671.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:31.597Z,1755758671.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996376
2025-08-21T06:44:31.768Z,1755758671.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:31.771Z,1755758671.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 167.966461 m,
      bearing: 133.700312 deg,
      approach rate: -0.168364 m/s,
      LOS rate: -0.224335 deg/s,
      cmd heading: 121.111944 deg,
      new cmd heading: 120.736407 deg.

2025-08-21T06:44:31.776Z,1755758671.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107248 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:31.849Z,1755758671.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248554
2025-08-21T06:44:32.100Z,1755758672.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499998
2025-08-21T06:44:32.112Z,1755758672.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:32.114Z,1755758672.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 167.901505 m,
      bearing: 133.619279 deg,
      approach rate: -0.189181 m/s,
      LOS rate: -0.236094 deg/s,
      cmd heading: 120.736407 deg,
      new cmd heading: 120.493214 deg.

2025-08-21T06:44:32.115Z,1755758672.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103003 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:32.356Z,1755758672.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755441
2025-08-21T06:44:32.508Z,1755758672.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:32.511Z,1755758672.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 167.824509 m,
      bearing: 133.529222 deg,
      approach rate: -0.193993 m/s,
      LOS rate: -0.227004 deg/s,
      cmd heading: 120.493211 deg,
      new cmd heading: 120.222919 deg.

2025-08-21T06:44:32.512Z,1755758672.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098286 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:32.606Z,1755758672.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005887
2025-08-21T06:44:32.856Z,1755758672.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255902
2025-08-21T06:44:32.972Z,1755758672.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:32.975Z,1755758672.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 167.732010 m,
      bearing: 133.425473 deg,
      approach rate: -0.199377 m/s,
      LOS rate: -0.223750 deg/s,
      cmd heading: 120.222913 deg,
      new cmd heading: 119.911498 deg.

2025-08-21T06:44:32.976Z,1755758672.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092850 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:33.109Z,1755758673.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508301
2025-08-21T06:44:33.344Z,1755758673.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:33.346Z,1755758673.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:33.349Z,1755758673.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 167.653397 m,
      bearing: 133.342224 deg,
      approach rate: -0.210029 m/s,
      LOS rate: -0.222518 deg/s,
      cmd heading: 119.911498 deg,
      new cmd heading: 119.661636 deg.

2025-08-21T06:44:33.350Z,1755758673.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.088490 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:33.360Z,1755758673.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760006
2025-08-21T06:44:33.612Z,1755758673.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.011861
2025-08-21T06:44:33.791Z,1755758673.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:33.794Z,1755758673.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 167.550873 m,
      bearing: 133.245321 deg,
      approach rate: -0.230653 m/s,
      LOS rate: -0.218143 deg/s,
      cmd heading: 119.661636 deg,
      new cmd heading: 119.370749 deg.

2025-08-21T06:44:33.795Z,1755758673.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.083413 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:33.865Z,1755758673.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.264786
2025-08-21T06:44:34.116Z,1755758674.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.515958
2025-08-21T06:44:34.188Z,1755758674.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:34.191Z,1755758674.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 167.461578 m,
      bearing: 133.164984 deg,
      approach rate: -0.224871 m/s,
      LOS rate: -0.202421 deg/s,
      cmd heading: 119.370752 deg,
      new cmd heading: 119.129614 deg.

2025-08-21T06:44:34.192Z,1755758674.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.079204 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:34.368Z,1755758674.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.768122
2025-08-21T06:44:34.549Z,1755758674.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:34.552Z,1755758674.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 167.364212 m,
      bearing: 133.081643 deg,
      approach rate: -0.269910 m/s,
      LOS rate: -0.231163 deg/s,
      cmd heading: 119.129619 deg,
      new cmd heading: 118.879454 deg.

2025-08-21T06:44:34.553Z,1755758674.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074838 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:34.621Z,1755758674.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.020705
2025-08-21T06:44:34.872Z,1755758674.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.271861
2025-08-21T06:44:34.976Z,1755758674.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:34.979Z,1755758674.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 167.253830 m,
      bearing: 132.991648 deg,
      approach rate: -0.258411 m/s,
      LOS rate: -0.210825 deg/s,
      cmd heading: 118.879456 deg,
      new cmd heading: 118.609293 deg.

2025-08-21T06:44:34.980Z,1755758674.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070123 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:35.124Z,1755758675.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.524021
2025-08-21T06:44:35.357Z,1755758675.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:35.359Z,1755758675.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:35.361Z,1755758675.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 167.150909 m,
      bearing: 132.911458 deg,
      approach rate: -0.268920 m/s,
      LOS rate: -0.209655 deg/s,
      cmd heading: 118.609295 deg,
      new cmd heading: 118.368580 deg.

2025-08-21T06:44:35.362Z,1755758675.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065922 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:35.378Z,1755758675.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.777577
2025-08-21T06:44:35.628Z,1755758675.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.027778
2025-08-21T06:44:35.830Z,1755758675.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:35.833Z,1755758675.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 167.026215 m,
      bearing: 132.812767 deg,
      approach rate: -0.264350 m/s,
      LOS rate: -0.209379 deg/s,
      cmd heading: 118.368585 deg,
      new cmd heading: 118.072293 deg.

2025-08-21T06:44:35.834Z,1755758675.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060750 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:35.881Z,1755758675.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.280601
2025-08-21T06:44:36.132Z,1755758676.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.531952
2025-08-21T06:44:36.210Z,1755758676.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:36.213Z,1755758676.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 166.925903 m,
      bearing: 132.732995 deg,
      approach rate: -0.263988 m/s,
      LOS rate: -0.210062 deg/s,
      cmd heading: 118.072292 deg,
      new cmd heading: 117.832833 deg.

2025-08-21T06:44:36.214Z,1755758676.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056571 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:36.385Z,1755758676.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.785126
2025-08-21T06:44:36.587Z,1755758676.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:36.589Z,1755758676.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 166.814774 m,
      bearing: 132.655988 deg,
      approach rate: -0.295405 m/s,
      LOS rate: -0.204836 deg/s,
      cmd heading: 117.832839 deg,
      new cmd heading: 117.601666 deg.

2025-08-21T06:44:36.590Z,1755758676.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052536 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:36.637Z,1755758676.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.036448
2025-08-21T06:44:36.890Z,1755758676.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.288949
2025-08-21T06:44:37.005Z,1755758677.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:37.008Z,1755758677.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 166.692535 m,
      bearing: 132.572097 deg,
      approach rate: -0.292291 m/s,
      LOS rate: -0.200744 deg/s,
      cmd heading: 117.601664 deg,
      new cmd heading: 117.349808 deg.

2025-08-21T06:44:37.009Z,1755758677.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048141 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:37.140Z,1755758677.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.540136
2025-08-21T06:44:37.393Z,1755758677.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.792851
2025-08-21T06:44:37.419Z,1755758677.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:37.422Z,1755758677.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:37.428Z,1755758677.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 166.568054 m,
      bearing: 132.490011 deg,
      approach rate: -0.298704 m/s,
      LOS rate: -0.197120 deg/s,
      cmd heading: 117.349808 deg,
      new cmd heading: 117.103368 deg.

2025-08-21T06:44:37.429Z,1755758677.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.043839 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:37.644Z,1755758677.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.043945
2025-08-21T06:44:37.858Z,1755758677.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:37.860Z,1755758677.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 166.439453 m,
      bearing: 132.403397 deg,
      approach rate: -0.294939 m/s,
      LOS rate: -0.198796 deg/s,
      cmd heading: 117.103361 deg,
      new cmd heading: 116.843322 deg.

2025-08-21T06:44:37.861Z,1755758677.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.039301 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:37.898Z,1755758677.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.297257
2025-08-21T06:44:38.149Z,1755758678.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.548400
2025-08-21T06:44:38.222Z,1755758678.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:38.225Z,1755758678.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 166.325775 m,
      bearing: 132.333092 deg,
      approach rate: -0.312238 m/s,
      LOS rate: -0.193239 deg/s,
      cmd heading: 116.843322 deg,
      new cmd heading: 116.632263 deg.

2025-08-21T06:44:38.226Z,1755758678.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.035617 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:38.400Z,1755758678.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.799947
2025-08-21T06:44:38.601Z,1755758678.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:38.603Z,1755758678.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 166.203888 m,
      bearing: 132.260588 deg,
      approach rate: -0.321567 m/s,
      LOS rate: -0.191424 deg/s,
      cmd heading: 116.632269 deg,
      new cmd heading: 116.414598 deg.

2025-08-21T06:44:38.604Z,1755758678.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.031818 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:38.652Z,1755758678.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.052059
2025-08-21T06:44:38.904Z,1755758678.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.303928
2025-08-21T06:44:39.027Z,1755758679.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:39.030Z,1755758679.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 166.067810 m,
      bearing: 132.178747 deg,
      approach rate: -0.319254 m/s,
      LOS rate: -0.192164 deg/s,
      cmd heading: 116.414591 deg,
      new cmd heading: 116.168870 deg.

2025-08-21T06:44:39.031Z,1755758679.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.027529 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:39.157Z,1755758679.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.556693
2025-08-21T06:44:39.408Z,1755758679.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.807997
2025-08-21T06:44:39.418Z,1755758679.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:39.441Z,1755758679.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 165.938934 m,
      bearing: 132.104223 deg,
      approach rate: -0.329416 m/s,
      LOS rate: -0.190637 deg/s,
      cmd heading: 116.168868 deg,
      new cmd heading: 115.945124 deg.

2025-08-21T06:44:39.442Z,1755758679.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.023624 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:39.660Z,1755758679.660 [DAT](INFO): Reached modem response timeout
2025-08-21T06:44:39.661Z,1755758679.661 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:44:39.661Z,1755758679.661 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:39.893Z,1755758679.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:39.895Z,1755758679.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:39.898Z,1755758679.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 165.783508 m,
      bearing: 132.017029 deg,
      approach rate: -0.325835 m/s,
      LOS rate: -0.182965 deg/s,
      cmd heading: 115.945125 deg,
      new cmd heading: 115.683299 deg.

2025-08-21T06:44:39.899Z,1755758679.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.019054 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:39.912Z,1755758679.912 [DAT](INFO): Reached modem response timeout
2025-08-21T06:44:39.912Z,1755758679.912 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:44:39.912Z,1755758679.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:40.167Z,1755758680.167 [DAT](INFO): Reached modem response timeout
2025-08-21T06:44:40.168Z,1755758680.168 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:44:40.168Z,1755758680.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:40.265Z,1755758680.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:40.272Z,1755758680.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 165.662811 m,
      bearing: 131.951786 deg,
      approach rate: -0.326533 m/s,
      LOS rate: -0.176637 deg/s,
      cmd heading: 115.683296 deg,
      new cmd heading: 115.487425 deg.

2025-08-21T06:44:40.273Z,1755758680.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.015636 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:40.416Z,1755758680.416 [DAT](INFO): Reached modem response timeout
2025-08-21T06:44:40.416Z,1755758680.416 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:44:40.417Z,1755758680.417 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:40.657Z,1755758680.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:40.659Z,1755758680.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 165.519516 m,
      bearing: 131.877162 deg,
      approach rate: -0.365664 m/s,
      LOS rate: -0.190592 deg/s,
      cmd heading: 115.487420 deg,
      new cmd heading: 115.263355 deg.

2025-08-21T06:44:40.660Z,1755758680.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.011725 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:40.668Z,1755758680.668 [DAT](INFO): Reached modem response timeout
2025-08-21T06:44:40.668Z,1755758680.668 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:44:40.669Z,1755758680.669 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:40.922Z,1755758680.922 [DAT](INFO): Reached modem response timeout
2025-08-21T06:44:40.923Z,1755758680.923 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:44:40.923Z,1755758680.923 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:41.073Z,1755758681.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:41.092Z,1755758681.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 165.376114 m,
      bearing: 131.801820 deg,
      approach rate: -0.344302 m/s,
      LOS rate: -0.181049 deg/s,
      cmd heading: 115.263349 deg,
      new cmd heading: 115.037129 deg.

2025-08-21T06:44:41.093Z,1755758681.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.007777 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:41.173Z,1755758681.173 [DAT](INFO): Reached modem response timeout
2025-08-21T06:44:41.173Z,1755758681.173 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:44:41.173Z,1755758681.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:41.424Z,1755758681.424 [DAT](INFO): Reached modem response timeout
2025-08-21T06:44:41.424Z,1755758681.424 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:44:41.424Z,1755758681.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:41.488Z,1755758681.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:41.491Z,1755758681.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 165.233414 m,
      bearing: 131.726574 deg,
      approach rate: -0.343804 m/s,
      LOS rate: -0.181445 deg/s,
      cmd heading: 115.037133 deg,
      new cmd heading: 114.811201 deg.

2025-08-21T06:44:41.492Z,1755758681.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.003834 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:41.676Z,1755758681.676 [DAT](INFO): Reached modem response timeout
2025-08-21T06:44:41.676Z,1755758681.676 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:44:41.676Z,1755758681.676 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:41.931Z,1755758681.931 [DAT](INFO): DAT read: Response Not Received

2025-08-21T06:44:41.932Z,1755758681.932 [DAT](INFO): response not received
2025-08-21T06:44:41.932Z,1755758681.932 [DAT](INFO): DAT read: user:1858>

2025-08-21T06:44:41.933Z,1755758681.933 [DAT](INFO): DAT read: Tx time:06:44:41.3248

2025-08-21T06:44:41.933Z,1755758681.933 [DAT](INFO): Ping request sent.
2025-08-21T06:44:41.933Z,1755758681.933 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:41.933Z,1755758681.933 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:41.934Z,1755758681.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-21T06:44:42.005Z,1755758682.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:42.011Z,1755758682.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:42.014Z,1755758682.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 165.061935 m,
      bearing: 131.634953 deg,
      approach rate: -0.330494 m/s,
      LOS rate: -0.176766 deg/s,
      cmd heading: 114.811204 deg,
      new cmd heading: 114.536059 deg.

2025-08-21T06:44:42.015Z,1755758682.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.999031 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:42.180Z,1755758682.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247096
2025-08-21T06:44:42.388Z,1755758682.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:42.391Z,1755758682.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 164.931137 m,
      bearing: 131.572766 deg,
      approach rate: -0.343278 m/s,
      LOS rate: -0.163339 deg/s,
      cmd heading: 114.536057 deg,
      new cmd heading: 114.349348 deg.

2025-08-21T06:44:42.396Z,1755758682.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.995773 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:42.434Z,1755758682.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501201
2025-08-21T06:44:42.685Z,1755758682.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751591
2025-08-21T06:44:42.781Z,1755758682.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:42.788Z,1755758682.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 164.773560 m,
      bearing: 131.500475 deg,
      approach rate: -0.401273 m/s,
      LOS rate: -0.184264 deg/s,
      cmd heading: 114.349347 deg,
      new cmd heading: 114.132270 deg.

2025-08-21T06:44:42.789Z,1755758682.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.991984 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:42.936Z,1755758682.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003070
2025-08-21T06:44:43.188Z,1755758683.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255024
2025-08-21T06:44:43.204Z,1755758683.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:43.206Z,1755758683.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 164.614731 m,
      bearing: 131.427922 deg,
      approach rate: -0.375946 m/s,
      LOS rate: -0.171898 deg/s,
      cmd heading: 114.132270 deg,
      new cmd heading: 113.914402 deg.

2025-08-21T06:44:43.207Z,1755758683.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.988181 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:43.441Z,1755758683.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507292
2025-08-21T06:44:43.586Z,1755758683.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:43.589Z,1755758683.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 164.474579 m,
      bearing: 131.366059 deg,
      approach rate: -0.366446 m/s,
      LOS rate: -0.161887 deg/s,
      cmd heading: 113.914400 deg,
      new cmd heading: 113.728654 deg.

2025-08-21T06:44:43.589Z,1755758683.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.984939 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:43.692Z,1755758683.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759023
2025-08-21T06:44:43.944Z,1755758683.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010916
2025-08-21T06:44:44.008Z,1755758684.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:44.010Z,1755758684.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:44.012Z,1755758684.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 164.300247 m,
      bearing: 131.294445 deg,
      approach rate: -0.411288 m/s,
      LOS rate: -0.169134 deg/s,
      cmd heading: 113.728653 deg,
      new cmd heading: 113.513583 deg.

2025-08-21T06:44:44.013Z,1755758684.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.981186 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:44.196Z,1755758684.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263146
2025-08-21T06:44:44.421Z,1755758684.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:44.424Z,1755758684.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 164.143250 m,
      bearing: 131.229728 deg,
      approach rate: -0.381714 m/s,
      LOS rate: -0.157499 deg/s,
      cmd heading: 113.513584 deg,
      new cmd heading: 113.319248 deg.

2025-08-21T06:44:44.425Z,1755758684.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.977794 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:44.448Z,1755758684.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515019
2025-08-21T06:44:44.701Z,1755758684.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767390
2025-08-21T06:44:44.803Z,1755758684.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:44.805Z,1755758684.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 163.987335 m,
      bearing: 131.165247 deg,
      approach rate: -0.408379 m/s,
      LOS rate: -0.169052 deg/s,
      cmd heading: 113.319245 deg,
      new cmd heading: 113.125620 deg.

2025-08-21T06:44:44.806Z,1755758684.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.974415 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:44.952Z,1755758684.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019029
2025-08-21T06:44:45.228Z,1755758685.228 [DAT](INFO): DAT read: Rx Time:06:44:44.0035

2025-08-21T06:44:45.228Z,1755758685.228 [DAT](INFO): Rx dataTimestamp_ set to:1755758685.227956
2025-08-21T06:44:45.229Z,1755758685.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.295553
2025-08-21T06:44:45.272Z,1755758685.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:45.274Z,1755758685.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 163.805298 m,
      bearing: 131.097936 deg,
      approach rate: -0.395210 m/s,
      LOS rate: -0.146299 deg/s,
      cmd heading: 113.125623 deg,
      new cmd heading: 112.923464 deg.

2025-08-21T06:44:45.279Z,1755758685.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.970886 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:45.456Z,1755758685.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522898
2025-08-21T06:44:45.598Z,1755758685.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:45.602Z,1755758685.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 163.655502 m,
      bearing: 131.044361 deg,
      approach rate: -0.447339 m/s,
      LOS rate: -0.160137 deg/s,
      cmd heading: 112.923463 deg,
      new cmd heading: 112.762594 deg.

2025-08-21T06:44:45.603Z,1755758685.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.968078 target range: 170.298752 and range: 171.20 m.
2025-08-21T06:44:45.710Z,1755758685.710 [DAT](INFO): DAT read: Range 11 to 50 : 205.9 m  (Round-trip  274.6 ms) speed  0.2 m/s

2025-08-21T06:44:45.712Z,1755758685.712 [DAT](INFO): DAT read: user:1859>

2025-08-21T06:44:45.712Z,1755758685.712 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T06:44:45.713Z,1755758685.713 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:45.713Z,1755758685.713 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:45.714Z,1755758685.714 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:45.960Z,1755758685.960 [DAT](INFO): DAT read: Tx time:06:44:45.1248

2025-08-21T06:44:45.961Z,1755758685.961 [DAT](INFO): Ping request sent.
2025-08-21T06:44:45.961Z,1755758685.961 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:45.961Z,1755758685.961 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:45.961Z,1755758685.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-08-21T06:44:46.042Z,1755758686.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:46.045Z,1755758686.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 205.899994 m,
      deltaT: 16.127810 s,
      deltaX: 34.699997 m,
      approachRate: 2.151563 m/s,
      rangeRepo size: 4

2025-08-21T06:44:46.045Z,1755758686.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:46.059Z,1755758686.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 163.462021 m,
      bearing: 130.978096 deg,
      approach rate: -0.433907 m/s,
      LOS rate: -0.148784 deg/s,
      cmd heading: 112.762591 deg,
      new cmd heading: 112.563562 deg.

2025-08-21T06:44:46.060Z,1755758686.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.964605 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:46.212Z,1755758686.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251635
2025-08-21T06:44:46.414Z,1755758686.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:46.417Z,1755758686.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 163.297913 m,
      bearing: 130.923714 deg,
      approach rate: -0.443589 m/s,
      LOS rate: -0.147144 deg/s,
      cmd heading: 112.563560 deg,
      new cmd heading: 112.400250 deg.

2025-08-21T06:44:46.418Z,1755758686.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.961754 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:46.465Z,1755758686.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504174
2025-08-21T06:44:46.716Z,1755758686.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755520
2025-08-21T06:44:46.813Z,1755758686.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:46.816Z,1755758686.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 163.118698 m,
      bearing: 130.866248 deg,
      approach rate: -0.449164 m/s,
      LOS rate: -0.144185 deg/s,
      cmd heading: 112.400250 deg,
      new cmd heading: 112.227662 deg.

2025-08-21T06:44:46.817Z,1755758686.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.958742 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:46.972Z,1755758686.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010898
2025-08-21T06:44:47.221Z,1755758687.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259929
2025-08-21T06:44:47.358Z,1755758687.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:47.380Z,1755758687.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 162.890472 m,
      bearing: 130.797190 deg,
      approach rate: -0.419396 m/s,
      LOS rate: -0.127082 deg/s,
      cmd heading: 112.227665 deg,
      new cmd heading: 112.020201 deg.

2025-08-21T06:44:47.381Z,1755758687.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.955121 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:47.472Z,1755758687.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511772
2025-08-21T06:44:47.724Z,1755758687.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763582
2025-08-21T06:44:47.965Z,1755758687.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:47.972Z,1755758687.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 162.601913 m,
      bearing: 130.715774 deg,
      approach rate: -0.474872 m/s,
      LOS rate: -0.134221 deg/s,
      cmd heading: 112.020198 deg,
      new cmd heading: 111.775519 deg.

2025-08-21T06:44:47.973Z,1755758687.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.950851 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:47.976Z,1755758687.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015652
2025-08-21T06:44:48.228Z,1755758688.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267511
2025-08-21T06:44:48.478Z,1755758688.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:48.480Z,1755758688.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519711
2025-08-21T06:44:48.485Z,1755758688.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:48.492Z,1755758688.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 162.359772 m,
      bearing: 130.647294 deg,
      approach rate: -0.465691 m/s,
      LOS rate: -0.131899 deg/s,
      cmd heading: 111.775520 deg,
      new cmd heading: 111.569773 deg.

2025-08-21T06:44:48.493Z,1755758688.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.947260 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:48.733Z,1755758688.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772211
2025-08-21T06:44:48.901Z,1755758688.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:48.923Z,1755758688.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 162.169998 m,
      bearing: 130.595431 deg,
      approach rate: -0.462326 m/s,
      LOS rate: -0.126496 deg/s,
      cmd heading: 111.569774 deg,
      new cmd heading: 111.414003 deg.

2025-08-21T06:44:48.927Z,1755758688.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.944541 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:48.984Z,1755758688.984 [DAT](INFO): DAT read: Rx Time:06:44:47.7503

2025-08-21T06:44:48.985Z,1755758688.985 [DAT](INFO): Rx dataTimestamp_ set to:1755758688.984506
2025-08-21T06:44:48.985Z,1755758688.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024684
2025-08-21T06:44:49.237Z,1755758689.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276003
2025-08-21T06:44:49.362Z,1755758689.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:49.381Z,1755758689.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 161.950134 m,
      bearing: 130.535454 deg,
      approach rate: -0.471691 m/s,
      LOS rate: -0.128847 deg/s,
      cmd heading: 111.414005 deg,
      new cmd heading: 111.233832 deg.

2025-08-21T06:44:49.382Z,1755758689.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.941397 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:49.496Z,1755758689.496 [DAT](INFO): DAT read: 06:44:47.7503 LVL= 32752, 32753, 25458, 32579, AGC= 62, IDX= 407, 0.45, 0.790,-0.407, 1.830, 0.912, PHS=-0.020,-1.274, 0.874, RAW= 174.5,   4.5, CAL= 173.9,   2.9, ROT= 336.1,  -2.9

2025-08-21T06:44:49.498Z,1755758689.498 [DAT](INFO): got valid direction response:
 06:44:47.7503 LVL= 32752, 32753, 25458, 32579, AGC= 62, IDX= 407, 0.45, 0.790,-0.407, 1.830, 0.912, PHS=-0.020,-1.274, 0.874, RAW= 174.5,   4.5, CAL= 173.9,   2.9, ROT= 336.1,  -2.9

2025-08-21T06:44:49.499Z,1755758689.499 [DAT](INFO): DAT read: Bearing 302.1, -16.3 (Local)

2025-08-21T06:44:49.500Z,1755758689.500 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.1, -16.3 (Local)

2025-08-21T06:44:49.502Z,1755758689.502 [DAT](INFO): DAT read: Range 11 to 50 : 166.0 m  (Round-trip  221.4 ms) speed  0.1 m/s

2025-08-21T06:44:49.503Z,1755758689.503 [DAT](INFO): DAT read: user:1860>

2025-08-21T06:44:49.505Z,1755758689.505 [DAT](INFO): DAT read: Tx time:06:44:48.8748

2025-08-21T06:44:49.505Z,1755758689.505 [DAT](INFO): Ping request sent.
2025-08-21T06:44:49.505Z,1755758689.505 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:49.506Z,1755758689.506 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:44:49.512Z,1755758689.512 [DAT](INFO): direction in FSK: [0.913083,-0.404623,0.050593]
2025-08-21T06:44:49.512Z,1755758689.512 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:49.513Z,1755758689.513 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:49.518Z,1755758689.518 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:49.519Z,1755758689.519 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:49.778Z,1755758689.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 166.000000 m,
 deltaT: 3.779631 s,
 deltaX: -39.899994 m,
 approachRate: -10.556584 m/s,
 rangeRepo size: 4
2025-08-21T06:44:49.778Z,1755758689.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:49.781Z,1755758689.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 161.752167 m,
      bearing: 130.487218 deg,
      approach rate: -0.476465 m/s,
      LOS rate: -0.116237 deg/s,
      cmd heading: 111.233831 deg,
      new cmd heading: 111.088945 deg.

2025-08-21T06:44:49.782Z,1755758689.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.938868 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:50.205Z,1755758690.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:50.208Z,1755758690.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 161.548615 m,
      bearing: 130.440029 deg,
      approach rate: -0.475779 m/s,
      LOS rate: -0.110437 deg/s,
      cmd heading: 111.088942 deg,
      new cmd heading: 110.947199 deg.

2025-08-21T06:44:50.208Z,1755758690.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.936394 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:50.581Z,1755758690.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:50.583Z,1755758690.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:50.585Z,1755758690.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 161.368454 m,
      bearing: 130.399852 deg,
      approach rate: -0.476707 m/s,
      LOS rate: -0.106428 deg/s,
      cmd heading: 110.947195 deg,
      new cmd heading: 110.826529 deg.

2025-08-21T06:44:50.586Z,1755758690.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.934288 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:50.748Z,1755758690.748 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:50.748Z,1755758690.748 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:50.748Z,1755758690.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:51.006Z,1755758691.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500359
2025-08-21T06:44:51.032Z,1755758691.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:51.034Z,1755758691.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 161.158981 m,
      bearing: 130.354663 deg,
      approach rate: -0.466747 m/s,
      LOS rate: -0.100820 deg/s,
      cmd heading: 110.826527 deg,
      new cmd heading: 110.690785 deg.

2025-08-21T06:44:51.035Z,1755758691.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.931919 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:51.256Z,1755758691.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750930
2025-08-21T06:44:51.390Z,1755758691.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:51.405Z,1755758691.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 160.989807 m,
      bearing: 130.319610 deg,
      approach rate: -0.471462 m/s,
      LOS rate: -0.097792 deg/s,
      cmd heading: 110.690783 deg,
      new cmd heading: 110.585512 deg.

2025-08-21T06:44:51.406Z,1755758691.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.930081 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:51.509Z,1755758691.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003361
2025-08-21T06:44:51.760Z,1755758691.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254913
2025-08-21T06:44:51.798Z,1755758691.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:51.802Z,1755758691.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 160.795197 m,
      bearing: 130.280888 deg,
      approach rate: -0.477166 m/s,
      LOS rate: -0.095058 deg/s,
      cmd heading: 110.585510 deg,
      new cmd heading: 110.469202 deg.

2025-08-21T06:44:51.802Z,1755758691.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.928051 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:52.015Z,1755758692.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509277
2025-08-21T06:44:52.213Z,1755758692.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:52.217Z,1755758692.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 160.597946 m,
      bearing: 130.243908 deg,
      approach rate: -0.475594 m/s,
      LOS rate: -0.089272 deg/s,
      cmd heading: 110.469205 deg,
      new cmd heading: 110.358130 deg.

2025-08-21T06:44:52.218Z,1755758692.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.926113 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:52.265Z,1755758692.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759819
2025-08-21T06:44:52.516Z,1755758692.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010871
2025-08-21T06:44:52.595Z,1755758692.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:52.597Z,1755758692.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:52.600Z,1755758692.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 160.413803 m,
      bearing: 130.210841 deg,
      approach rate: -0.479312 m/s,
      LOS rate: -0.086169 deg/s,
      cmd heading: 110.358133 deg,
      new cmd heading: 110.258820 deg.

2025-08-21T06:44:52.601Z,1755758692.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.924379 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:52.627Z,1755758692.627 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:44:52.768Z,1755758692.768 [DAT](INFO): DAT read: Rx Time:06:44:51.4980

2025-08-21T06:44:52.769Z,1755758692.769 [DAT](INFO): Rx dataTimestamp_ set to:1755758692.768528
2025-08-21T06:44:52.769Z,1755758692.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264043
2025-08-21T06:44:53.022Z,1755758693.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517099
2025-08-21T06:44:53.063Z,1755758693.063 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,    7,      +  74,  23.77,  0.00
2025-08-21T06:44:53.078Z,1755758693.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:53.105Z,1755758693.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 160.180679 m,
      bearing: 130.170813 deg,
      approach rate: -0.484721 m/s,
      LOS rate: -0.083349 deg/s,
      cmd heading: 110.258822 deg,
      new cmd heading: 110.138563 deg.

2025-08-21T06:44:53.106Z,1755758693.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.922281 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:53.278Z,1755758693.278 [DAT](INFO): DAT read: 06:44:51.4980 LVL= 25072, 27569, 20578, 28723, AGC= 63, IDX= 416,-0.37,-2.359, 2.398,-1.828,-2.426, PHS= 0.170,-1.414, 0.554, RAW= 160.6,   7.7, CAL= 160.2,   7.8, ROT= 349.8,  -7.8

2025-08-21T06:44:53.279Z,1755758693.279 [DAT](INFO): got valid direction response:
 06:44:51.4980 LVL= 25072, 27569, 20578, 28723, AGC= 63, IDX= 416,-0.37,-2.359, 2.398,-1.828,-2.426, PHS= 0.170,-1.414, 0.554, RAW= 160.6,   7.7, CAL= 160.2,   7.8, ROT= 349.8,  -7.8

2025-08-21T06:44:53.280Z,1755758693.280 [DAT](INFO): DAT read: Bearing 297.2,  -1.9 (Local)

2025-08-21T06:44:53.280Z,1755758693.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.2,  -1.9 (Local)

2025-08-21T06:44:53.282Z,1755758693.282 [DAT](INFO): DAT read: Range 11 to 50 : 164.3 m  (Round-trip  219.1 ms) speed  0.4 m/s

2025-08-21T06:44:53.282Z,1755758693.282 [DAT](INFO): DAT read: user:1861>

2025-08-21T06:44:53.284Z,1755758693.284 [DAT](INFO): DAT read: Tx time:06:44:52.6248

2025-08-21T06:44:53.284Z,1755758693.284 [DAT](INFO): Ping request sent.
2025-08-21T06:44:53.284Z,1755758693.284 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:53.284Z,1755758693.284 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:44:53.285Z,1755758693.285 [DAT](INFO): direction in FSK: [0.975090,-0.175446,0.135716]
2025-08-21T06:44:53.286Z,1755758693.286 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:53.286Z,1755758693.286 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:53.289Z,1755758693.289 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:53.289Z,1755758693.289 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:53.484Z,1755758693.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 164.300003 m,
 deltaT: 7.563560 s,
 deltaX: -41.599991 m,
 approachRate: -5.500054 m/s,
 rangeRepo size: 4
2025-08-21T06:44:53.484Z,1755758693.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:53.491Z,1755758693.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 159.996964 m,
      bearing: 130.140647 deg,
      approach rate: -0.467699 m/s,
      LOS rate: -0.076885 deg/s,
      cmd heading: 110.138563 deg,
      new cmd heading: 110.047959 deg.

2025-08-21T06:44:53.492Z,1755758693.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.920699 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:53.632Z,1755758693.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:44:53.872Z,1755758693.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:53.874Z,1755758693.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 159.799561 m,
      bearing: 130.109651 deg,
      approach rate: -0.492215 m/s,
      LOS rate: -0.077381 deg/s,
      cmd heading: 110.047960 deg,
      new cmd heading: 109.954859 deg.

2025-08-21T06:44:53.880Z,1755758693.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.919074 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:54.266Z,1755758694.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:54.269Z,1755758694.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 159.602539 m,
      bearing: 130.080073 deg,
      approach rate: -0.500170 m/s,
      LOS rate: -0.075183 deg/s,
      cmd heading: 109.954858 deg,
      new cmd heading: 109.866012 deg.

2025-08-21T06:44:54.270Z,1755758694.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.917524 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:54.656Z,1755758694.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:54.658Z,1755758694.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:54.661Z,1755758694.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 159.414185 m,
      bearing: 130.051721 deg,
      approach rate: -0.480148 m/s,
      LOS rate: -0.072360 deg/s,
      cmd heading: 109.866011 deg,
      new cmd heading: 109.780854 deg.

2025-08-21T06:44:54.662Z,1755758694.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.916037 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:54.784Z,1755758694.784 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:54.784Z,1755758694.784 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:54.784Z,1755758694.784 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:55.040Z,1755758695.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754983
2025-08-21T06:44:55.100Z,1755758695.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:55.103Z,1755758695.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 159.203644 m,
      bearing: 130.023134 deg,
      approach rate: -0.476114 m/s,
      LOS rate: -0.064730 deg/s,
      cmd heading: 109.780852 deg,
      new cmd heading: 109.694980 deg.

2025-08-21T06:44:55.104Z,1755758695.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.914539 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:55.288Z,1755758695.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004210
2025-08-21T06:44:55.472Z,1755758695.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:55.474Z,1755758695.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 159.025879 m,
      bearing: 130.000277 deg,
      approach rate: -0.479031 m/s,
      LOS rate: -0.061664 deg/s,
      cmd heading: 109.694983 deg,
      new cmd heading: 109.626334 deg.

2025-08-21T06:44:55.475Z,1755758695.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.913340 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:55.542Z,1755758695.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257751
2025-08-21T06:44:55.792Z,1755758695.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508217
2025-08-21T06:44:55.880Z,1755758695.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:55.882Z,1755758695.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 158.829330 m,
      bearing: 129.976408 deg,
      approach rate: -0.481637 m/s,
      LOS rate: -0.058563 deg/s,
      cmd heading: 109.626333 deg,
      new cmd heading: 109.554637 deg.

2025-08-21T06:44:55.883Z,1755758695.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.912089 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:56.047Z,1755758696.047 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762488
2025-08-21T06:44:56.290Z,1755758696.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:56.293Z,1755758696.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 158.630981 m,
      bearing: 129.953548 deg,
      approach rate: -0.482784 m/s,
      LOS rate: -0.055710 deg/s,
      cmd heading: 109.554636 deg,
      new cmd heading: 109.485971 deg.

2025-08-21T06:44:56.294Z,1755758696.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.910891 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:56.296Z,1755758696.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012328
2025-08-21T06:44:56.550Z,1755758696.550 [DAT](INFO): DAT read: Rx Time:06:44:55.2727

2025-08-21T06:44:56.550Z,1755758696.550 [DAT](INFO): Rx dataTimestamp_ set to:1755758696.550051
2025-08-21T06:44:56.551Z,1755758696.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266899
2025-08-21T06:44:56.685Z,1755758696.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:56.687Z,1755758696.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.30 m.
2025-08-21T06:44:56.690Z,1755758696.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.298752 m,
      nav range: 158.439438 m,
      bearing: 129.931415 deg,
      approach rate: -0.482508 m/s,
      LOS rate: -0.055823 deg/s,
      cmd heading: 109.485972 deg,
      new cmd heading: 109.419491 deg.

2025-08-21T06:44:56.692Z,1755758696.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.909730 target range: 170.298752 and range: 205.90 m.
2025-08-21T06:44:56.801Z,1755758696.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517051
2025-08-21T06:44:57.074Z,1755758697.074 [DAT](INFO): DAT read: 06:44:55.2727 LVL= 32752, 32753, 32754, 24403, AGC= 69, IDX= 188, 0.14, 1.801, 0.687, 1.848, 0.614, PHS= 1.288, 0.117, 1.190, RAW= 145.6, -39.2, CAL= 146.7, -38.4, ROT=   3.3,  38.4

2025-08-21T06:44:57.083Z,1755758697.083 [DAT](INFO): got valid direction response:
 06:44:55.2727 LVL= 32752, 32753, 32754, 24403, AGC= 69, IDX= 188, 0.14, 1.801, 0.687, 1.848, 0.614, PHS= 1.288, 0.117, 1.190, RAW= 145.6, -39.2, CAL= 146.7, -38.4, ROT=   3.3,  38.4

2025-08-21T06:44:57.092Z,1755758697.092 [DAT](INFO): DAT read: Bearing 240.7,  11.5 (Local)

2025-08-21T06:44:57.092Z,1755758697.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.7,  11.5 (Local)

2025-08-21T06:44:57.094Z,1755758697.094 [DAT](INFO): DAT read: Range 11 to 50 : 182.8 m  (Round-trip  243.8 ms) speed  0.4 m/s

2025-08-21T06:44:57.095Z,1755758697.095 [DAT](INFO): DAT read: user:1862>

2025-08-21T06:44:57.124Z,1755758697.124 [DAT](INFO): DAT read: Tx time:06:44:56.3748

2025-08-21T06:44:57.124Z,1755758697.124 [DAT](INFO): Ping request sent.
2025-08-21T06:44:57.124Z,1755758697.124 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:44:57.124Z,1755758697.124 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:44:57.125Z,1755758697.125 [DAT](INFO): direction in FSK: [0.782394,0.045113,-0.621148]
2025-08-21T06:44:57.126Z,1755758697.126 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:57.126Z,1755758697.126 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:57.154Z,1755758697.154 [DAT](INFO): publishing transmit ping time
2025-08-21T06:44:57.155Z,1755758697.155 [DAT](INFO): publishing direction and range info
2025-08-21T06:44:57.260Z,1755758697.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 182.800003 m,
      deltaT: 11.344712 s,
      deltaX: -23.099991 m,
      approachRate: -2.036190 m/s,
      rangeRepo size: 4

2025-08-21T06:44:57.262Z,1755758697.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.835648 m,
      bearing: 132.269996 deg,
      lat: 36.779362 deg,
      lon: -121.859549 deg,
      deltaT: 27.472522 s,
      deltaX: 11.536896 m,
      approachRate: 0.419943 m/s,
      posRepo size: 4

2025-08-21T06:44:57.262Z,1755758697.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.84 m.
2025-08-21T06:44:57.265Z,1755758697.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.835648 m,
      nav range: 154.793213 m,
      bearing: 129.876188 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.055823 deg/s,
      cmd heading: 109.419494 deg,
      new cmd heading: 109.325805 deg.

2025-08-21T06:44:57.266Z,1755758697.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.908095 target range: 181.835648 and range: 182.80 m.
2025-08-21T06:44:57.624Z,1755758697.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.84 m.
2025-08-21T06:44:57.626Z,1755758697.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.835648 m,
      nav range: 154.598785 m,
      bearing: 129.856805 deg,
      approach rate: -0.515548 m/s,
      LOS rate: -0.051461 deg/s,
      cmd heading: 109.325804 deg,
      new cmd heading: 109.267582 deg.

2025-08-21T06:44:57.628Z,1755758697.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.907079 target range: 181.835648 and range: 182.80 m.
2025-08-21T06:44:58.003Z,1755758698.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.84 m.
2025-08-21T06:44:58.005Z,1755758698.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.835648 m,
      nav range: 154.412827 m,
      bearing: 129.839583 deg,
      approach rate: -0.490820 m/s,
      LOS rate: -0.045510 deg/s,
      cmd heading: 109.267584 deg,
      new cmd heading: 109.215856 deg.

2025-08-21T06:44:58.006Z,1755758698.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.906176 target range: 181.835648 and range: 182.80 m.
2025-08-21T06:44:58.454Z,1755758698.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.84 m.
2025-08-21T06:44:58.461Z,1755758698.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.835648 m,
      nav range: 154.204346 m,
      bearing: 129.821589 deg,
      approach rate: -0.462245 m/s,
      LOS rate: -0.039950 deg/s,
      cmd heading: 109.215859 deg,
      new cmd heading: 109.161804 deg.

2025-08-21T06:44:58.462Z,1755758698.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.905233 target range: 181.835648 and range: 182.80 m.
2025-08-21T06:44:58.837Z,1755758698.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:44:58.843Z,1755758698.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.84 m.
2025-08-21T06:44:58.846Z,1755758698.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.835648 m,
      nav range: 154.019501 m,
      bearing: 129.806946 deg,
      approach rate: -0.479528 m/s,
      LOS rate: -0.038033 deg/s,
      cmd heading: 109.161805 deg,
      new cmd heading: 109.117823 deg.

2025-08-21T06:44:58.851Z,1755758698.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.904465 target range: 181.835648 and range: 182.80 m.
2025-08-21T06:44:59.072Z,1755758699.072 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:44:59.072Z,1755758699.072 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:44:59.073Z,1755758699.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:44:59.259Z,1755758699.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.84 m.
2025-08-21T06:44:59.261Z,1755758699.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.835648 m,
      nav range: 153.803299 m,
      bearing: 129.789691 deg,
      approach rate: -0.515596 m/s,
      LOS rate: -0.041208 deg/s,
      cmd heading: 109.117825 deg,
      new cmd heading: 109.065986 deg.

2025-08-21T06:44:59.262Z,1755758699.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.903561 target range: 181.835648 and range: 182.80 m.
2025-08-21T06:44:59.322Z,1755758699.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.197463
2025-08-21T06:44:59.572Z,1755758699.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.448448
2025-08-21T06:44:59.638Z,1755758699.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.84 m.
2025-08-21T06:44:59.641Z,1755758699.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.835648 m,
      nav range: 153.617508 m,
      bearing: 129.776174 deg,
      approach rate: -0.489092 m/s,
      LOS rate: -0.035624 deg/s,
      cmd heading: 109.065984 deg,
      new cmd heading: 109.025386 deg.

2025-08-21T06:44:59.642Z,1755758699.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.902852 target range: 181.835648 and range: 182.80 m.
2025-08-21T06:44:59.829Z,1755758699.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.705054
2025-08-21T06:45:00.024Z,1755758700.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.84 m.
2025-08-21T06:45:00.027Z,1755758700.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.835648 m,
      nav range: 153.428299 m,
      bearing: 129.763745 deg,
      approach rate: -0.490190 m/s,
      LOS rate: -0.032241 deg/s,
      cmd heading: 109.025385 deg,
      new cmd heading: 108.988051 deg.

2025-08-21T06:45:00.028Z,1755758700.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.902200 target range: 181.835648 and range: 182.80 m.
2025-08-21T06:45:00.079Z,1755758700.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.954555
2025-08-21T06:45:00.329Z,1755758700.329 [DAT](INFO): DAT read: Rx Time:06:44:59.0203

2025-08-21T06:45:00.330Z,1755758700.330 [DAT](INFO): Rx dataTimestamp_ set to:1755758700.329165
2025-08-21T06:45:00.331Z,1755758700.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.206884
2025-08-21T06:45:00.464Z,1755758700.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.84 m.
2025-08-21T06:45:00.467Z,1755758700.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.835648 m,
      nav range: 153.213013 m,
      bearing: 129.754154 deg,
      approach rate: -0.489489 m/s,
      LOS rate: -0.021838 deg/s,
      cmd heading: 108.988051 deg,
      new cmd heading: 108.959237 deg.

2025-08-21T06:45:00.468Z,1755758700.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.901697 target range: 181.835648 and range: 182.80 m.
2025-08-21T06:45:00.581Z,1755758700.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.456988
2025-08-21T06:45:00.838Z,1755758700.838 [DAT](INFO): DAT read: 06:44:59.0203 LVL= 29344, 32753, 32482, 32755, AGC= 62, IDX= 420,-0.04,-0.789,-2.537,-0.860,-1.201, PHS= 0.514,-1.291, 0.297, RAW= 143.7,   5.7, CAL= 143.3,   6.3, ROT=   6.7,  -6.3

2025-08-21T06:45:00.839Z,1755758700.839 [DAT](INFO): got valid direction response:
 06:44:59.0203 LVL= 29344, 32753, 32482, 32755, AGC= 62, IDX= 420,-0.04,-0.789,-2.537,-0.860,-1.201, PHS= 0.514,-1.291, 0.297, RAW= 143.7,   5.7, CAL= 143.3,   6.3, ROT=   6.7,  -6.3

2025-08-21T06:45:00.840Z,1755758700.840 [DAT](INFO): DAT read: Bearing 276.3,  16.6 (Local)

2025-08-21T06:45:00.841Z,1755758700.841 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.3,  16.6 (Local)

2025-08-21T06:45:00.842Z,1755758700.842 [DAT](INFO): DAT read: Range 11 to 50 : 181.0 m  (Round-trip  241.4 ms) speed  0.4 m/s

2025-08-21T06:45:00.843Z,1755758700.843 [DAT](INFO): DAT read: user:1863>

2025-08-21T06:45:00.844Z,1755758700.844 [DAT](INFO): DAT read: Tx time:06:45:00.1248

2025-08-21T06:45:00.844Z,1755758700.844 [DAT](INFO): Ping request sent.
2025-08-21T06:45:00.844Z,1755758700.844 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:00.844Z,1755758700.844 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:00.845Z,1755758700.845 [DAT](INFO): direction in FSK: [0.987173,0.115966,0.109734]
2025-08-21T06:45:00.845Z,1755758700.845 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:00.846Z,1755758700.846 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:00.853Z,1755758700.853 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:00.853Z,1755758700.853 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:00.924Z,1755758700.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.000000 m,
      deltaT: 3.778983 s,
      deltaX: -1.800003 m,
      approachRate: -0.476319 m/s,
      rangeRepo size: 4

2025-08-21T06:45:00.926Z,1755758700.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 180.043884 m,
      bearing: 128.137694 deg,
      lat: 36.779293 deg,
      lon: -121.859549 deg,
      deltaT: 3.778983 s,
      deltaX: -1.791763 m,
      approachRate: -0.474139 m/s,
      posRepo size: 4

2025-08-21T06:45:00.927Z,1755758700.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:00.933Z,1755758700.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 158.023376 m,
      bearing: 131.882933 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021838 deg/s,
      cmd heading: 108.959235 deg,
      new cmd heading: 108.929444 deg.

2025-08-21T06:45:00.934Z,1755758700.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.901177 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:01.313Z,1755758701.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:01.322Z,1755758701.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:01.330Z,1755758701.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 157.815338 m,
      bearing: 131.878183 deg,
      approach rate: -0.517392 m/s,
      LOS rate: -0.011830 deg/s,
      cmd heading: 108.929441 deg,
      new cmd heading: 108.915171 deg.

2025-08-21T06:45:01.331Z,1755758701.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.900928 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:01.340Z,1755758701.340 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:01.340Z,1755758701.340 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:01.340Z,1755758701.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:01.592Z,1755758701.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748241
2025-08-21T06:45:01.665Z,1755758701.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:01.684Z,1755758701.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 157.637619 m,
      bearing: 131.876586 deg,
      approach rate: -0.516915 m/s,
      LOS rate: -0.004651 deg/s,
      cmd heading: 108.915173 deg,
      new cmd heading: 108.910376 deg.

2025-08-21T06:45:01.685Z,1755758701.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.900845 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:01.846Z,1755758701.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001672
2025-08-21T06:45:02.079Z,1755758702.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:02.086Z,1755758702.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 157.436371 m,
      bearing: 131.876164 deg,
      approach rate: -0.485620 m/s,
      LOS rate: -0.001019 deg/s,
      cmd heading: 108.910378 deg,
      new cmd heading: 108.909112 deg.

2025-08-21T06:45:02.087Z,1755758702.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.900823 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:02.097Z,1755758702.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253137
2025-08-21T06:45:02.348Z,1755758702.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504180
2025-08-21T06:45:02.502Z,1755758702.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:02.504Z,1755758702.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 157.234863 m,
      bearing: 131.878814 deg,
      approach rate: -0.477157 m/s,
      LOS rate: 0.006283 deg/s,
      cmd heading: 108.909115 deg,
      new cmd heading: 108.917074 deg.

2025-08-21T06:45:02.505Z,1755758702.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.900962 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:02.603Z,1755758702.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758891
2025-08-21T06:45:02.856Z,1755758702.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012423
2025-08-21T06:45:02.888Z,1755758702.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:02.891Z,1755758702.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 157.054413 m,
      bearing: 131.882340 deg,
      approach rate: -0.466784 m/s,
      LOS rate: 0.009131 deg/s,
      cmd heading: 108.917072 deg,
      new cmd heading: 108.927662 deg.

2025-08-21T06:45:02.896Z,1755758702.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.901146 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:03.111Z,1755758703.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266302
2025-08-21T06:45:03.316Z,1755758703.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:03.320Z,1755758703.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:03.324Z,1755758703.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 156.850433 m,
      bearing: 131.888497 deg,
      approach rate: -0.472858 m/s,
      LOS rate: 0.014293 deg/s,
      cmd heading: 108.927659 deg,
      new cmd heading: 108.946156 deg.

2025-08-21T06:45:03.325Z,1755758703.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.901469 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:03.361Z,1755758703.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516721
2025-08-21T06:45:03.613Z,1755758703.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768903
2025-08-21T06:45:03.685Z,1755758703.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:03.688Z,1755758703.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 156.674011 m,
      bearing: 131.894954 deg,
      approach rate: -0.482473 m/s,
      LOS rate: 0.017677 deg/s,
      cmd heading: 108.946155 deg,
      new cmd heading: 108.965547 deg.

2025-08-21T06:45:03.689Z,1755758703.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.901808 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:03.864Z,1755758703.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020226
2025-08-21T06:45:04.101Z,1755758704.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:04.108Z,1755758704.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 156.480408 m,
      bearing: 131.903192 deg,
      approach rate: -0.465776 m/s,
      LOS rate: 0.019844 deg/s,
      cmd heading: 108.965546 deg,
      new cmd heading: 108.990290 deg.

2025-08-21T06:45:04.109Z,1755758704.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.902239 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:04.117Z,1755758704.117 [DAT](INFO): DAT read: Rx Time:06:45:02.7408

2025-08-21T06:45:04.117Z,1755758704.117 [DAT](INFO): Rx dataTimestamp_ set to:1755758704.117176
2025-08-21T06:45:04.118Z,1755758704.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274062
2025-08-21T06:45:04.368Z,1755758704.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524281
2025-08-21T06:45:04.523Z,1755758704.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:04.526Z,1755758704.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 156.276978 m,
      bearing: 131.913904 deg,
      approach rate: -0.482028 m/s,
      LOS rate: 0.025414 deg/s,
      cmd heading: 108.990292 deg,
      new cmd heading: 109.022469 deg.

2025-08-21T06:45:04.527Z,1755758704.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.902801 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:04.626Z,1755758704.626 [DAT](INFO): DAT read: 06:45:02.7408 LVL= 28928, 30273, 31154, 32755, AGC= 67, IDX= 134, 0.07, 1.121,-0.818, 0.710, 0.607, PHS= 0.616,-1.380, 0.060, RAW= 134.3,   7.9, CAL= 134.2,   9.0, ROT=  15.8,  -9.0

2025-08-21T06:45:04.628Z,1755758704.628 [DAT](INFO): got valid direction response:
 06:45:02.7408 LVL= 28928, 30273, 31154, 32755, AGC= 67, IDX= 134, 0.07, 1.121,-0.818, 0.710, 0.607, PHS= 0.616,-1.380, 0.060, RAW= 134.3,   7.9, CAL= 134.2,   9.0, ROT=  15.8,  -9.0

2025-08-21T06:45:04.630Z,1755758704.630 [DAT](INFO): DAT read: Bearing 270.1,  26.0 (Local)

2025-08-21T06:45:04.630Z,1755758704.630 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.1,  26.0 (Local)

2025-08-21T06:45:04.633Z,1755758704.633 [DAT](INFO): DAT read: Range 11 to 50 : 158.9 m  (Round-trip  211.9 ms) speed  0.4 m/s

2025-08-21T06:45:04.634Z,1755758704.634 [DAT](INFO): DAT read: user:1864>

2025-08-21T06:45:04.635Z,1755758704.635 [DAT](INFO): DAT read: Tx time:06:45:03.8748

2025-08-21T06:45:04.636Z,1755758704.636 [DAT](INFO): Ping request sent.
2025-08-21T06:45:04.636Z,1755758704.636 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:04.636Z,1755758704.636 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:04.638Z,1755758704.638 [DAT](INFO): direction in FSK: [0.950371,0.268928,0.156434]
2025-08-21T06:45:04.638Z,1755758704.638 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:04.639Z,1755758704.639 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:04.646Z,1755758704.646 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:04.646Z,1755758704.646 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:04.912Z,1755758704.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 158.899994 m,
 deltaT: 3.787995 s,
 deltaX: -22.100006 m,
 approachRate: -5.834223 m/s,
 rangeRepo size: 4
2025-08-21T06:45:04.913Z,1755758704.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:04.915Z,1755758704.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 156.094772 m,
      bearing: 131.925543 deg,
      approach rate: -0.469297 m/s,
      LOS rate: 0.030013 deg/s,
      cmd heading: 109.022469 deg,
      new cmd heading: 109.057426 deg.

2025-08-21T06:45:04.916Z,1755758704.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.903411 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:05.343Z,1755758705.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:05.345Z,1755758705.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:05.364Z,1755758705.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 155.895462 m,
      bearing: 131.939726 deg,
      approach rate: -0.459365 m/s,
      LOS rate: 0.032730 deg/s,
      cmd heading: 109.057426 deg,
      new cmd heading: 109.100029 deg.

2025-08-21T06:45:05.365Z,1755758705.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.904155 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:05.376Z,1755758705.376 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:05.376Z,1755758705.376 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:05.376Z,1755758705.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:05.630Z,1755758705.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993935
2025-08-21T06:45:05.729Z,1755758705.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:05.732Z,1755758705.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 155.728073 m,
      bearing: 131.952408 deg,
      approach rate: -0.438014 m/s,
      LOS rate: 0.033221 deg/s,
      cmd heading: 109.100032 deg,
      new cmd heading: 109.138119 deg.

2025-08-21T06:45:05.732Z,1755758705.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.904819 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:05.881Z,1755758705.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244844
2025-08-21T06:45:06.109Z,1755758706.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:06.111Z,1755758706.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 155.547501 m,
      bearing: 131.966827 deg,
      approach rate: -0.473267 m/s,
      LOS rate: 0.037835 deg/s,
      cmd heading: 109.138117 deg,
      new cmd heading: 109.181424 deg.

2025-08-21T06:45:06.112Z,1755758706.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.905575 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:06.132Z,1755758706.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496456
2025-08-21T06:45:06.384Z,1755758706.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748379
2025-08-21T06:45:06.552Z,1755758706.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:06.554Z,1755758706.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 155.349594 m,
      bearing: 131.982973 deg,
      approach rate: -0.447098 m/s,
      LOS rate: 0.036523 deg/s,
      cmd heading: 109.181421 deg,
      new cmd heading: 109.229921 deg.

2025-08-21T06:45:06.560Z,1755758706.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.906422 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:06.637Z,1755758706.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001306
2025-08-21T06:45:06.888Z,1755758706.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252405
2025-08-21T06:45:06.925Z,1755758706.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:06.928Z,1755758706.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 155.183136 m,
      bearing: 131.997770 deg,
      approach rate: -0.445437 m/s,
      LOS rate: 0.039640 deg/s,
      cmd heading: 109.229922 deg,
      new cmd heading: 109.274361 deg.

2025-08-21T06:45:06.929Z,1755758706.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.907197 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:07.141Z,1755758707.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504683
2025-08-21T06:45:07.353Z,1755758707.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:07.355Z,1755758707.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:07.362Z,1755758707.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 154.990463 m,
      bearing: 132.015800 deg,
      approach rate: -0.448185 m/s,
      LOS rate: 0.041993 deg/s,
      cmd heading: 109.274359 deg,
      new cmd heading: 109.328518 deg.

2025-08-21T06:45:07.364Z,1755758707.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.908143 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:07.393Z,1755758707.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757094
2025-08-21T06:45:07.645Z,1755758707.645 [DAT](INFO): DAT read: Rx Time:06:45:06.4885

2025-08-21T06:45:07.645Z,1755758707.645 [DAT](INFO): Rx dataTimestamp_ set to:1755758707.644876
2025-08-21T06:45:07.646Z,1755758707.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009871
2025-08-21T06:45:07.741Z,1755758707.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:07.744Z,1755758707.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 154.817383 m,
      bearing: 132.032472 deg,
      approach rate: -0.447740 m/s,
      LOS rate: 0.043176 deg/s,
      cmd heading: 109.328516 deg,
      new cmd heading: 109.378587 deg.

2025-08-21T06:45:07.745Z,1755758707.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.909016 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:07.897Z,1755758707.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260695
2025-08-21T06:45:08.135Z,1755758708.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.04 m.
2025-08-21T06:45:08.138Z,1755758708.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.043884 m,
      nav range: 154.641006 m,
      bearing: 132.049832 deg,
      approach rate: -0.447906 m/s,
      LOS rate: 0.044136 deg/s,
      cmd heading: 109.378588 deg,
      new cmd heading: 109.430727 deg.

2025-08-21T06:45:08.139Z,1755758708.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.909927 target range: 180.043884 and range: 181.00 m.
2025-08-21T06:45:08.154Z,1755758708.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517951
2025-08-21T06:45:08.406Z,1755758708.406 [DAT](INFO): DAT read: 06:45:06.4885 LVL= 28400, 32753, 31522, 32755, AGC= 59, IDX= 415,-0.08, 1.317,-0.755, 0.737, 0.821, PHS= 0.598,-1.531,-0.128, RAW= 130.4,  11.3, CAL= 130.0,  12.5, ROT=  20.0, -12.5

2025-08-21T06:45:08.407Z,1755758708.407 [DAT](INFO): got valid direction response:
 06:45:06.4885 LVL= 28400, 32753, 31522, 32755, AGC= 59, IDX= 415,-0.08, 1.317,-0.755, 0.737, 0.821, PHS= 0.598,-1.531,-0.128, RAW= 130.4,  11.3, CAL= 130.0,  12.5, ROT=  20.0, -12.5

2025-08-21T06:45:08.408Z,1755758708.408 [DAT](INFO): DAT read: Bearing 268.2,  30.9 (Local)

2025-08-21T06:45:08.408Z,1755758708.408 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.2,  30.9 (Local)

2025-08-21T06:45:08.410Z,1755758708.410 [DAT](INFO): DAT read: Range 11 to 50 : 157.2 m  (Round-trip  209.6 ms) speed  0.3 m/s

2025-08-21T06:45:08.410Z,1755758708.410 [DAT](INFO): DAT read: user:1865>

2025-08-21T06:45:08.411Z,1755758708.411 [DAT](INFO): DAT read: Tx time:06:45:07.5748

2025-08-21T06:45:08.411Z,1755758708.411 [DAT](INFO): Ping request sent.
2025-08-21T06:45:08.412Z,1755758708.412 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:08.412Z,1755758708.412 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:08.413Z,1755758708.413 [DAT](INFO): direction in FSK: [0.917418,0.333913,0.216440]
2025-08-21T06:45:08.413Z,1755758708.413 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:08.413Z,1755758708.413 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:08.417Z,1755758708.417 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:08.417Z,1755758708.417 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:08.646Z,1755758708.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 157.199997 m,
      deltaT: 7.567799 s,
      deltaX: -23.800003 m,
      approachRate: -3.144904 m/s,
      rangeRepo size: 4

2025-08-21T06:45:08.653Z,1755758708.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.370911 m,
      bearing: 128.303877 deg,
      lat: 36.779362 deg,
      lon: -121.859549 deg,
      deltaT: 7.567799 s,
      deltaX: -23.672974 m,
      approachRate: -3.128119 m/s,
      posRepo size: 4

2025-08-21T06:45:08.654Z,1755758708.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.37 m.
2025-08-21T06:45:08.660Z,1755758708.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.370911 m,
      nav range: 149.396133 m,
      bearing: 129.890125 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.044136 deg/s,
      cmd heading: 109.430730 deg,
      new cmd heading: 109.498238 deg.

2025-08-21T06:45:08.664Z,1755758708.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.911105 target range: 156.370911 and range: 157.20 m.
2025-08-21T06:45:08.992Z,1755758708.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.37 m.
2025-08-21T06:45:08.995Z,1755758708.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.370911 m,
      nav range: 149.234314 m,
      bearing: 129.904592 deg,
      approach rate: -0.466365 m/s,
      LOS rate: 0.041741 deg/s,
      cmd heading: 109.498239 deg,
      new cmd heading: 109.541689 deg.

2025-08-21T06:45:08.996Z,1755758708.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.911863 target range: 156.370911 and range: 157.20 m.
2025-08-21T06:45:09.413Z,1755758709.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:09.415Z,1755758709.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.37 m.
2025-08-21T06:45:09.418Z,1755758709.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.370911 m,
      nav range: 149.047211 m,
      bearing: 129.921033 deg,
      approach rate: -0.442462 m/s,
      LOS rate: 0.038927 deg/s,
      cmd heading: 109.541686 deg,
      new cmd heading: 109.591069 deg.

2025-08-21T06:45:09.419Z,1755758709.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.912725 target range: 156.370911 and range: 157.20 m.
2025-08-21T06:45:09.660Z,1755758709.660 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:09.660Z,1755758709.660 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:09.660Z,1755758709.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:09.813Z,1755758709.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.37 m.
2025-08-21T06:45:09.817Z,1755758709.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.370911 m,
      nav range: 148.853638 m,
      bearing: 129.937996 deg,
      approach rate: -0.485928 m/s,
      LOS rate: 0.042638 deg/s,
      cmd heading: 109.591068 deg,
      new cmd heading: 109.642024 deg.

2025-08-21T06:45:09.818Z,1755758709.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.913614 target range: 156.370911 and range: 157.20 m.
2025-08-21T06:45:09.913Z,1755758709.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501153
2025-08-21T06:45:10.165Z,1755758710.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753800
2025-08-21T06:45:10.214Z,1755758710.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.37 m.
2025-08-21T06:45:10.230Z,1755758710.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.370911 m,
      nav range: 148.677429 m,
      bearing: 129.953357 deg,
      approach rate: -0.439497 m/s,
      LOS rate: 0.038359 deg/s,
      cmd heading: 109.642021 deg,
      new cmd heading: 109.688159 deg.

2025-08-21T06:45:10.242Z,1755758710.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.914420 target range: 156.370911 and range: 157.20 m.
2025-08-21T06:45:10.416Z,1755758710.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004596
2025-08-21T06:45:10.643Z,1755758710.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.37 m.
2025-08-21T06:45:10.645Z,1755758710.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.370911 m,
      nav range: 148.469986 m,
      bearing: 129.970279 deg,
      approach rate: -0.484402 m/s,
      LOS rate: 0.039569 deg/s,
      cmd heading: 109.688159 deg,
      new cmd heading: 109.738995 deg.

2025-08-21T06:45:10.646Z,1755758710.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.915307 target range: 156.370911 and range: 157.20 m.
2025-08-21T06:45:10.668Z,1755758710.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256559
2025-08-21T06:45:10.920Z,1755758710.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508619
2025-08-21T06:45:11.054Z,1755758711.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.37 m.
2025-08-21T06:45:11.056Z,1755758711.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.370911 m,
      nav range: 148.282791 m,
      bearing: 129.985591 deg,
      approach rate: -0.455285 m/s,
      LOS rate: 0.037289 deg/s,
      cmd heading: 109.738996 deg,
      new cmd heading: 109.784992 deg.

2025-08-21T06:45:11.057Z,1755758711.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.916110 target range: 156.370911 and range: 157.20 m.
2025-08-21T06:45:11.173Z,1755758711.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761419
2025-08-21T06:45:11.424Z,1755758711.424 [DAT](INFO): DAT read: Rx Time:06:45:10.1862

2025-08-21T06:45:11.425Z,1755758711.425 [DAT](INFO): Rx dataTimestamp_ set to:1755758711.424498
2025-08-21T06:45:11.425Z,1755758711.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013728
2025-08-21T06:45:11.448Z,1755758711.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:11.451Z,1755758711.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.37 m.
2025-08-21T06:45:11.453Z,1755758711.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.370911 m,
      nav range: 148.094482 m,
      bearing: 130.002048 deg,
      approach rate: -0.474483 m/s,
      LOS rate: 0.041519 deg/s,
      cmd heading: 109.784991 deg,
      new cmd heading: 109.834424 deg.

2025-08-21T06:45:11.454Z,1755758711.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.916972 target range: 156.370911 and range: 157.20 m.
2025-08-21T06:45:11.689Z,1755758711.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277680
2025-08-21T06:45:11.854Z,1755758711.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.37 m.
2025-08-21T06:45:11.878Z,1755758711.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.370911 m,
      nav range: 147.915863 m,
      bearing: 130.017547 deg,
      approach rate: -0.444597 m/s,
      LOS rate: 0.038625 deg/s,
      cmd heading: 109.834421 deg,
      new cmd heading: 109.880974 deg.

2025-08-21T06:45:11.887Z,1755758711.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.917785 target range: 156.370911 and range: 157.20 m.
2025-08-21T06:45:11.946Z,1755758711.946 [DAT](INFO): DAT read: 06:45:10.1862 LVL= 26000, 30257, 32738, 32755, AGC= 62, IDX= 423, 0.07,-1.651, 2.738,-2.111,-2.168, PHS= 0.619,-1.333, 0.013, RAW= 132.3,   8.2, CAL= 132.3,   9.3, ROT=  17.7,  -9.3

2025-08-21T06:45:11.947Z,1755758711.947 [DAT](INFO): got valid direction response:
 06:45:10.1862 LVL= 26000, 30257, 32738, 32755, AGC= 62, IDX= 423, 0.07,-1.651, 2.738,-2.111,-2.168, PHS= 0.619,-1.333, 0.013, RAW= 132.3,   8.2, CAL= 132.3,   9.3, ROT=  17.7,  -9.3

2025-08-21T06:45:11.948Z,1755758711.948 [DAT](INFO): DAT read: Bearing 263.3,  31.0 (Local)

2025-08-21T06:45:11.949Z,1755758711.949 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.3,  31.0 (Local)

2025-08-21T06:45:11.950Z,1755758711.950 [DAT](INFO): DAT read: Range 11 to 50 : 155.4 m  (Round-trip  207.3 ms) speed  0.4 m/s

2025-08-21T06:45:11.951Z,1755758711.951 [DAT](INFO): DAT read: user:1866>

2025-08-21T06:45:11.952Z,1755758711.952 [DAT](INFO): DAT read: Tx time:06:45:11.2748

2025-08-21T06:45:11.952Z,1755758711.952 [DAT](INFO): Ping request sent.
2025-08-21T06:45:11.952Z,1755758711.952 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:11.953Z,1755758711.953 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:11.954Z,1755758711.954 [DAT](INFO): direction in FSK: [0.940139,0.300037,0.161604]
2025-08-21T06:45:11.954Z,1755758711.954 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:11.958Z,1755758711.958 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:11.962Z,1755758711.962 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:11.962Z,1755758711.962 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:12.330Z,1755758712.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.399994 m,
      deltaT: 3.540277 s,
      deltaX: -1.800003 m,
      approachRate: -0.508436 m/s,
      rangeRepo size: 4

2025-08-21T06:45:12.337Z,1755758712.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.580002 m,
      bearing: 125.752435 deg,
      lat: 36.779407 deg,
      lon: -121.859528 deg,
      deltaT: 3.540277 s,
      deltaX: -1.790909 m,
      approachRate: -0.505867 m/s,
      posRepo size: 4

2025-08-21T06:45:12.337Z,1755758712.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.58 m.
2025-08-21T06:45:12.344Z,1755758712.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.580002 m,
      nav range: 146.016312 m,
      bearing: 128.024673 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038625 deg/s,
      cmd heading: 109.880976 deg,
      new cmd heading: 109.936292 deg.

2025-08-21T06:45:12.345Z,1755758712.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.918750 target range: 154.580002 and range: 155.40 m.
2025-08-21T06:45:12.694Z,1755758712.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.58 m.
2025-08-21T06:45:12.701Z,1755758712.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.580002 m,
      nav range: 145.823868 m,
      bearing: 128.038409 deg,
      approach rate: -0.527725 m/s,
      LOS rate: 0.037717 deg/s,
      cmd heading: 109.936293 deg,
      new cmd heading: 109.977556 deg.

2025-08-21T06:45:12.702Z,1755758712.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.919470 target range: 154.580002 and range: 155.40 m.
2025-08-21T06:45:13.082Z,1755758713.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.58 m.
2025-08-21T06:45:13.085Z,1755758713.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.580002 m,
      nav range: 145.630173 m,
      bearing: 128.052132 deg,
      approach rate: -0.499841 m/s,
      LOS rate: 0.035459 deg/s,
      cmd heading: 109.977555 deg,
      new cmd heading: 110.018776 deg.

2025-08-21T06:45:13.086Z,1755758713.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.920190 target range: 154.580002 and range: 155.40 m.
2025-08-21T06:45:13.518Z,1755758713.518 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:13.520Z,1755758713.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.58 m.
2025-08-21T06:45:13.523Z,1755758713.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.580002 m,
      nav range: 145.422440 m,
      bearing: 128.068193 deg,
      approach rate: -0.473675 m/s,
      LOS rate: 0.036676 deg/s,
      cmd heading: 110.018775 deg,
      new cmd heading: 110.067028 deg.

2025-08-21T06:45:13.524Z,1755758713.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.921032 target range: 154.580002 and range: 155.40 m.
2025-08-21T06:45:13.705Z,1755758713.705 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:13.705Z,1755758713.705 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:13.705Z,1755758713.705 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:13.880Z,1755758713.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.58 m.
2025-08-21T06:45:13.883Z,1755758713.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.580002 m,
      nav range: 145.257660 m,
      bearing: 128.080681 deg,
      approach rate: -0.457790 m/s,
      LOS rate: 0.034732 deg/s,
      cmd heading: 110.067030 deg,
      new cmd heading: 110.104535 deg.

2025-08-21T06:45:13.888Z,1755758713.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.921687 target range: 154.580002 and range: 155.40 m.
2025-08-21T06:45:13.957Z,1755758713.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004575
2025-08-21T06:45:14.208Z,1755758714.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255885
2025-08-21T06:45:14.346Z,1755758714.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.58 m.
2025-08-21T06:45:14.353Z,1755758714.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.580002 m,
      nav range: 145.057831 m,
      bearing: 128.095700 deg,
      approach rate: -0.429375 m/s,
      LOS rate: 0.032317 deg/s,
      cmd heading: 110.104535 deg,
      new cmd heading: 110.149655 deg.

2025-08-21T06:45:14.354Z,1755758714.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.922474 target range: 154.580002 and range: 155.40 m.
2025-08-21T06:45:14.460Z,1755758714.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507936
2025-08-21T06:45:14.710Z,1755758714.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.58 m.
2025-08-21T06:45:14.712Z,1755758714.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760055
2025-08-21T06:45:14.715Z,1755758714.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.580002 m,
      nav range: 144.857224 m,
      bearing: 128.110417 deg,
      approach rate: -0.551122 m/s,
      LOS rate: 0.040488 deg/s,
      cmd heading: 110.149655 deg,
      new cmd heading: 110.193868 deg.

2025-08-21T06:45:14.740Z,1755758714.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.923246 target range: 154.580002 and range: 155.40 m.
2025-08-21T06:45:14.970Z,1755758714.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016953
2025-08-21T06:45:15.216Z,1755758715.216 [DAT](INFO): DAT read: Rx Time:06:45:13.8838

2025-08-21T06:45:15.217Z,1755758715.217 [DAT](INFO): Rx dataTimestamp_ set to:1755758715.216435
2025-08-21T06:45:15.217Z,1755758715.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264968
2025-08-21T06:45:15.347Z,1755758715.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.58 m.
2025-08-21T06:45:15.354Z,1755758715.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.580002 m,
      nav range: 144.580048 m,
      bearing: 128.130565 deg,
      approach rate: -0.435063 m/s,
      LOS rate: 0.031686 deg/s,
      cmd heading: 110.193867 deg,
      new cmd heading: 110.254427 deg.

2025-08-21T06:45:15.355Z,1755758715.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.924303 target range: 154.580002 and range: 155.40 m.
2025-08-21T06:45:15.468Z,1755758715.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516007
2025-08-21T06:45:15.730Z,1755758715.730 [DAT](INFO): DAT read: 06:45:13.8838 LVL= 29856, 32753, 32754, 32755, AGC= 63, IDX= 415,-0.24, 0.243,-1.563,-0.146,-0.268, PHS= 0.612,-1.250, 0.078, RAW= 133.8,   6.8, CAL= 133.9,   7.9, ROT=  16.1,  -7.9

2025-08-21T06:45:15.731Z,1755758715.731 [DAT](INFO): got valid direction response:
 06:45:13.8838 LVL= 29856, 32753, 32754, 32755, AGC= 63, IDX= 415,-0.24, 0.243,-1.563,-0.146,-0.268, PHS= 0.612,-1.250, 0.078, RAW= 133.8,   6.8, CAL= 133.9,   7.9, ROT=  16.1,  -7.9

2025-08-21T06:45:15.732Z,1755758715.732 [DAT](INFO): DAT read: Bearing 262.6,  31.8 (Local)

2025-08-21T06:45:15.732Z,1755758715.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.6,  31.8 (Local)

2025-08-21T06:45:15.734Z,1755758715.734 [DAT](INFO): DAT read: Range 11 to 50 : 153.6 m  (Round-trip  204.9 ms) speed  0.4 m/s

2025-08-21T06:45:15.734Z,1755758715.734 [DAT](INFO): DAT read: user:1867>

2025-08-21T06:45:15.737Z,1755758715.737 [DAT](INFO): DAT read: Tx time:06:45:14.9748

2025-08-21T06:45:15.738Z,1755758715.738 [DAT](INFO): Ping request sent.
2025-08-21T06:45:15.738Z,1755758715.738 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:15.738Z,1755758715.738 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:15.739Z,1755758715.739 [DAT](INFO): direction in FSK: [0.951661,0.274683,0.137445]
2025-08-21T06:45:15.740Z,1755758715.740 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:15.740Z,1755758715.740 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:15.743Z,1755758715.743 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:15.743Z,1755758715.743 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:15.976Z,1755758715.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.600006 m,
      deltaT: 3.780213 s,
      deltaX: -1.799988 m,
      approachRate: -0.476160 m/s,
      rangeRepo size: 4

2025-08-21T06:45:15.978Z,1755758715.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.786774 m,
      bearing: 125.109189 deg,
      lat: 36.779423 deg,
      lon: -121.859525 deg,
      deltaT: 3.780213 s,
      deltaX: -1.793228 m,
      approachRate: -0.474372 m/s,
      posRepo size: 4

2025-08-21T06:45:15.979Z,1755758715.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.79 m.
2025-08-21T06:45:15.986Z,1755758715.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.786774 m,
      nav range: 143.331467 m,
      bearing: 127.544407 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.031686 deg/s,
      cmd heading: 110.254430 deg,
      new cmd heading: 110.313791 deg.

2025-08-21T06:45:15.986Z,1755758715.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.925339 target range: 152.786774 and range: 153.60 m.
2025-08-21T06:45:16.447Z,1755758716.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:16.449Z,1755758716.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.79 m.
2025-08-21T06:45:16.453Z,1755758716.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.786774 m,
      nav range: 143.093735 m,
      bearing: 127.563538 deg,
      approach rate: -0.497236 m/s,
      LOS rate: 0.040081 deg/s,
      cmd heading: 110.313791 deg,
      new cmd heading: 110.371280 deg.

2025-08-21T06:45:16.454Z,1755758716.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.926342 target range: 152.786774 and range: 153.60 m.
2025-08-21T06:45:16.485Z,1755758716.485 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:16.485Z,1755758716.485 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:16.486Z,1755758716.486 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:16.736Z,1755758716.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998270
2025-08-21T06:45:16.826Z,1755758716.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.79 m.
2025-08-21T06:45:16.829Z,1755758716.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.786774 m,
      nav range: 142.896835 m,
      bearing: 127.579307 deg,
      approach rate: -0.523052 m/s,
      LOS rate: 0.041945 deg/s,
      cmd heading: 110.371281 deg,
      new cmd heading: 110.418650 deg.

2025-08-21T06:45:16.830Z,1755758716.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.927169 target range: 152.786774 and range: 153.60 m.
2025-08-21T06:45:16.988Z,1755758716.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250351
2025-08-21T06:45:17.220Z,1755758717.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.79 m.
2025-08-21T06:45:17.223Z,1755758717.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.786774 m,
      nav range: 142.700165 m,
      bearing: 127.594960 deg,
      approach rate: -0.498430 m/s,
      LOS rate: 0.039726 deg/s,
      cmd heading: 110.418648 deg,
      new cmd heading: 110.465673 deg.

2025-08-21T06:45:17.224Z,1755758717.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.927990 target range: 152.786774 and range: 153.60 m.
2025-08-21T06:45:17.240Z,1755758717.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502232
2025-08-21T06:45:17.492Z,1755758717.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754255
2025-08-21T06:45:17.644Z,1755758717.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.79 m.
2025-08-21T06:45:17.646Z,1755758717.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.786774 m,
      nav range: 142.488556 m,
      bearing: 127.611237 deg,
      approach rate: -0.499863 m/s,
      LOS rate: 0.038507 deg/s,
      cmd heading: 110.465674 deg,
      new cmd heading: 110.514578 deg.

2025-08-21T06:45:17.648Z,1755758717.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.928843 target range: 152.786774 and range: 153.60 m.
2025-08-21T06:45:17.745Z,1755758717.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006596
2025-08-21T06:45:17.996Z,1755758717.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258373
2025-08-21T06:45:18.119Z,1755758718.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.79 m.
2025-08-21T06:45:18.122Z,1755758718.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.786774 m,
      nav range: 142.256821 m,
      bearing: 127.628991 deg,
      approach rate: -0.491751 m/s,
      LOS rate: 0.037734 deg/s,
      cmd heading: 110.514578 deg,
      new cmd heading: 110.567924 deg.

2025-08-21T06:45:18.123Z,1755758718.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.929774 target range: 152.786774 and range: 153.60 m.
2025-08-21T06:45:18.251Z,1755758718.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512574
2025-08-21T06:45:18.500Z,1755758718.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762340
2025-08-21T06:45:18.533Z,1755758718.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:18.540Z,1755758718.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.79 m.
2025-08-21T06:45:18.542Z,1755758718.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.786774 m,
      nav range: 142.051926 m,
      bearing: 127.644672 deg,
      approach rate: -0.487341 m/s,
      LOS rate: 0.037352 deg/s,
      cmd heading: 110.567922 deg,
      new cmd heading: 110.615034 deg.

2025-08-21T06:45:18.547Z,1755758718.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.930597 target range: 152.786774 and range: 153.60 m.
2025-08-21T06:45:18.754Z,1755758718.754 [DAT](INFO): DAT read: Rx Time:06:45:17.5813

2025-08-21T06:45:18.755Z,1755758718.755 [DAT](INFO): Rx dataTimestamp_ set to:1755758718.754521
2025-08-21T06:45:18.756Z,1755758718.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017787
2025-08-21T06:45:18.918Z,1755758718.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.79 m.
2025-08-21T06:45:18.921Z,1755758718.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.786774 m,
      nav range: 141.849579 m,
      bearing: 127.660043 deg,
      approach rate: -0.529187 m/s,
      LOS rate: 0.040257 deg/s,
      cmd heading: 110.615037 deg,
      new cmd heading: 110.661216 deg.

2025-08-21T06:45:18.922Z,1755758718.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.931403 target range: 152.786774 and range: 153.60 m.
2025-08-21T06:45:19.004Z,1755758719.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266341
2025-08-21T06:45:19.261Z,1755758719.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523049
2025-08-21T06:45:19.442Z,1755758719.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.79 m.
2025-08-21T06:45:19.445Z,1755758719.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.786774 m,
      nav range: 141.580124 m,
      bearing: 127.680126 deg,
      approach rate: -0.514113 m/s,
      LOS rate: 0.038391 deg/s,
      cmd heading: 110.661215 deg,
      new cmd heading: 110.721580 deg.

2025-08-21T06:45:19.446Z,1755758719.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.932456 target range: 152.786774 and range: 153.60 m.
2025-08-21T06:45:19.518Z,1755758719.518 [DAT](INFO): DAT read: 06:45:17.5813 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 421,-0.05, 2.055, 0.255, 1.677, 1.517, PHS= 0.640,-1.217, 0.116, RAW= 134.1,   5.6, CAL= 134.3,   6.7, ROT=  15.7,  -6.7

2025-08-21T06:45:19.520Z,1755758719.520 [DAT](INFO): got valid direction response:
 06:45:17.5813 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 421,-0.05, 2.055, 0.255, 1.677, 1.517, PHS= 0.640,-1.217, 0.116, RAW= 134.1,   5.6, CAL= 134.3,   6.7, ROT=  15.7,  -6.7

2025-08-21T06:45:19.522Z,1755758719.522 [DAT](INFO): DAT read: Bearing 262.3,  33.0 (Local)

2025-08-21T06:45:19.522Z,1755758719.522 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.3,  33.0 (Local)

2025-08-21T06:45:19.526Z,1755758719.526 [DAT](INFO): DAT read: Range 11 to 50 : 151.8 m  (Round-trip  202.4 ms) speed  0.4 m/s

2025-08-21T06:45:19.527Z,1755758719.527 [DAT](INFO): DAT read: user:1868>

2025-08-21T06:45:19.529Z,1755758719.529 [DAT](INFO): DAT read: Tx time:06:45:18.6748

2025-08-21T06:45:19.530Z,1755758719.530 [DAT](INFO): Ping request sent.
2025-08-21T06:45:19.530Z,1755758719.530 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:19.530Z,1755758719.530 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:19.532Z,1755758719.532 [DAT](INFO): direction in FSK: [0.956117,0.268752,0.116671]
2025-08-21T06:45:19.532Z,1755758719.532 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:19.533Z,1755758719.533 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:19.536Z,1755758719.536 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:19.537Z,1755758719.537 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:19.840Z,1755758719.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 151.800003 m,
      deltaT: 3.788219 s,
      deltaX: -1.800003 m,
      approachRate: -0.475158 m/s,
      rangeRepo size: 4

2025-08-21T06:45:19.842Z,1755758719.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 150.995728 m,
      bearing: 125.512373 deg,
      lat: 36.779470 deg,
      lon: -121.859525 deg,
      deltaT: 3.788219 s,
      deltaX: -1.791046 m,
      approachRate: -0.472794 m/s,
      posRepo size: 4

2025-08-21T06:45:19.842Z,1755758719.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.00 m.
2025-08-21T06:45:19.845Z,1755758719.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.995728 m,
      nav range: 138.258728 m,
      bearing: 125.989048 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038391 deg/s,
      cmd heading: 110.721581 deg,
      new cmd heading: 110.767277 deg.

2025-08-21T06:45:19.846Z,1755758719.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.933254 target range: 150.995728 and range: 151.80 m.
2025-08-21T06:45:20.310Z,1755758720.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.00 m.
2025-08-21T06:45:20.313Z,1755758720.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.995728 m,
      nav range: 138.012222 m,
      bearing: 126.004621 deg,
      approach rate: -0.522733 m/s,
      LOS rate: 0.033083 deg/s,
      cmd heading: 110.767275 deg,
      new cmd heading: 110.814077 deg.

2025-08-21T06:45:20.314Z,1755758720.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.934070 target range: 150.995728 and range: 151.80 m.
2025-08-21T06:45:20.732Z,1755758720.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:20.734Z,1755758720.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.00 m.
2025-08-21T06:45:20.737Z,1755758720.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.995728 m,
      nav range: 137.790787 m,
      bearing: 126.018327 deg,
      approach rate: -0.522545 m/s,
      LOS rate: 0.032396 deg/s,
      cmd heading: 110.814075 deg,
      new cmd heading: 110.855259 deg.

2025-08-21T06:45:20.738Z,1755758720.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.934789 target range: 150.995728 and range: 151.80 m.
2025-08-21T06:45:20.769Z,1755758720.769 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:20.769Z,1755758720.769 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:20.769Z,1755758720.769 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:21.021Z,1755758721.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490891
2025-08-21T06:45:21.122Z,1755758721.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.00 m.
2025-08-21T06:45:21.125Z,1755758721.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.995728 m,
      nav range: 137.587372 m,
      bearing: 126.030897 deg,
      approach rate: -0.524609 m/s,
      LOS rate: 0.032465 deg/s,
      cmd heading: 110.855261 deg,
      new cmd heading: 110.893026 deg.

2025-08-21T06:45:21.126Z,1755758721.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.935448 target range: 150.995728 and range: 151.80 m.
2025-08-21T06:45:21.272Z,1755758721.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742492
2025-08-21T06:45:21.525Z,1755758721.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994795
2025-08-21T06:45:21.562Z,1755758721.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.00 m.
2025-08-21T06:45:21.565Z,1755758721.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.995728 m,
      nav range: 137.362900 m,
      bearing: 126.045063 deg,
      approach rate: -0.513391 m/s,
      LOS rate: 0.032453 deg/s,
      cmd heading: 110.893025 deg,
      new cmd heading: 110.935593 deg.

2025-08-21T06:45:21.566Z,1755758721.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.936191 target range: 150.995728 and range: 151.80 m.
2025-08-21T06:45:21.778Z,1755758721.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248035
2025-08-21T06:45:21.938Z,1755758721.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.00 m.
2025-08-21T06:45:21.941Z,1755758721.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.995728 m,
      nav range: 137.176300 m,
      bearing: 126.056697 deg,
      approach rate: -0.492396 m/s,
      LOS rate: 0.030741 deg/s,
      cmd heading: 110.935591 deg,
      new cmd heading: 110.970541 deg.

2025-08-21T06:45:21.942Z,1755758721.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.936801 target range: 150.995728 and range: 151.80 m.
2025-08-21T06:45:22.029Z,1755758722.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498708
2025-08-21T06:45:22.280Z,1755758722.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750439
2025-08-21T06:45:22.324Z,1755758722.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.00 m.
2025-08-21T06:45:22.326Z,1755758722.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.995728 m,
      nav range: 136.967987 m,
      bearing: 126.069634 deg,
      approach rate: -0.539724 m/s,
      LOS rate: 0.033571 deg/s,
      cmd heading: 110.970541 deg,
      new cmd heading: 111.009412 deg.

2025-08-21T06:45:22.328Z,1755758722.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.937480 target range: 150.995728 and range: 151.80 m.
2025-08-21T06:45:22.533Z,1755758722.533 [DAT](INFO): DAT read: Rx Time:06:45:21.2788

2025-08-21T06:45:22.534Z,1755758722.534 [DAT](INFO): Rx dataTimestamp_ set to:1755758722.533399
2025-08-21T06:45:22.534Z,1755758722.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004479
2025-08-21T06:45:22.783Z,1755758722.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:22.784Z,1755758722.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254535
2025-08-21T06:45:22.789Z,1755758722.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.00 m.
2025-08-21T06:45:22.796Z,1755758722.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.995728 m,
      nav range: 136.742157 m,
      bearing: 126.084017 deg,
      approach rate: -0.485735 m/s,
      LOS rate: 0.030987 deg/s,
      cmd heading: 111.009412 deg,
      new cmd heading: 111.052631 deg.

2025-08-21T06:45:22.797Z,1755758722.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.938234 target range: 150.995728 and range: 151.80 m.
2025-08-21T06:45:23.043Z,1755758723.043 [DAT](INFO): DAT read: 06:45:21.2788 LVL= 32736, 32753, 32754, 32755, AGC= 66, IDX= 411,-0.04,-0.170,-2.028,-0.577,-0.736, PHS= 0.669,-1.246, 0.115, RAW= 133.7,   5.5, CAL= 133.9,   6.6, ROT=  16.1,  -6.6

2025-08-21T06:45:23.044Z,1755758723.044 [DAT](INFO): got valid direction response:
 06:45:21.2788 LVL= 32736, 32753, 32754, 32755, AGC= 66, IDX= 411,-0.04,-0.170,-2.028,-0.577,-0.736, PHS= 0.669,-1.246, 0.115, RAW= 133.7,   5.5, CAL= 133.9,   6.6, ROT=  16.1,  -6.6

2025-08-21T06:45:23.045Z,1755758723.045 [DAT](INFO): DAT read: Bearing 262.8,  31.9 (Local)

2025-08-21T06:45:23.046Z,1755758723.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.8,  31.9 (Local)

2025-08-21T06:45:23.047Z,1755758723.047 [DAT](INFO): DAT read: Range 11 to 50 : 149.9 m  (Round-trip  199.9 ms) speed  0.4 m/s

2025-08-21T06:45:23.048Z,1755758723.048 [DAT](INFO): DAT read: user:1869>

2025-08-21T06:45:23.049Z,1755758723.049 [DAT](INFO): DAT read: Tx time:06:45:22.3748

2025-08-21T06:45:23.049Z,1755758723.049 [DAT](INFO): Ping request sent.
2025-08-21T06:45:23.049Z,1755758723.049 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:23.049Z,1755758723.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:23.050Z,1755758723.050 [DAT](INFO): direction in FSK: [0.954412,0.275477,0.114937]
2025-08-21T06:45:23.051Z,1755758723.051 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:23.051Z,1755758723.051 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:23.054Z,1755758723.054 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:23.055Z,1755758723.055 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:23.228Z,1755758723.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 149.899994 m,
      deltaT: 3.528293 s,
      deltaX: -1.900009 m,
      approachRate: -0.538507 m/s,
      rangeRepo size: 4

2025-08-21T06:45:23.230Z,1755758723.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 149.103027 m,
      bearing: 126.188895 deg,
      lat: 36.779470 deg,
      lon: -121.859519 deg,
      deltaT: 3.528293 s,
      deltaX: -1.892700 m,
      approachRate: -0.536435 m/s,
      posRepo size: 4

2025-08-21T06:45:23.231Z,1755758723.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-08-21T06:45:23.245Z,1755758723.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.103027 m,
      nav range: 136.973434 m,
      bearing: 125.958020 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030987 deg/s,
      cmd heading: 111.052633 deg,
      new cmd heading: 111.092257 deg.

2025-08-21T06:45:23.247Z,1755758723.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.938926 target range: 149.103027 and range: 149.90 m.
2025-08-21T06:45:23.618Z,1755758723.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-08-21T06:45:23.621Z,1755758723.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.103027 m,
      nav range: 136.760406 m,
      bearing: 125.971405 deg,
      approach rate: -0.528583 m/s,
      LOS rate: 0.033265 deg/s,
      cmd heading: 111.092255 deg,
      new cmd heading: 111.132474 deg.

2025-08-21T06:45:23.622Z,1755758723.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.939628 target range: 149.103027 and range: 149.90 m.
2025-08-21T06:45:23.760Z,1755758723.760 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:45:23.999Z,1755758723.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-08-21T06:45:24.002Z,1755758724.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.103027 m,
      nav range: 136.565048 m,
      bearing: 125.983717 deg,
      approach rate: -0.513251 m/s,
      LOS rate: 0.032392 deg/s,
      cmd heading: 111.132471 deg,
      new cmd heading: 111.169459 deg.

2025-08-21T06:45:24.002Z,1755758724.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.940273 target range: 149.103027 and range: 149.90 m.
2025-08-21T06:45:24.402Z,1755758724.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-08-21T06:45:24.405Z,1755758724.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.103027 m,
      nav range: 136.358002 m,
      bearing: 125.996743 deg,
      approach rate: -0.513701 m/s,
      LOS rate: 0.032367 deg/s,
      cmd heading: 111.169457 deg,
      new cmd heading: 111.208593 deg.

2025-08-21T06:45:24.406Z,1755758724.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.940956 target range: 149.103027 and range: 149.90 m.
2025-08-21T06:45:24.764Z,1755758724.764 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:45:24.833Z,1755758724.833 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:24.836Z,1755758724.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-08-21T06:45:24.838Z,1755758724.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.103027 m,
      nav range: 136.138458 m,
      bearing: 126.007301 deg,
      approach rate: -0.506435 m/s,
      LOS rate: 0.024394 deg/s,
      cmd heading: 111.208594 deg,
      new cmd heading: 111.240319 deg.

2025-08-21T06:45:24.839Z,1755758724.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.941510 target range: 149.103027 and range: 149.90 m.
2025-08-21T06:45:25.056Z,1755758725.056 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:25.056Z,1755758725.056 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:25.056Z,1755758725.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:25.213Z,1755758725.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-08-21T06:45:25.216Z,1755758725.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.103027 m,
      nav range: 135.946594 m,
      bearing: 126.016525 deg,
      approach rate: -0.508279 m/s,
      LOS rate: 0.024470 deg/s,
      cmd heading: 111.240320 deg,
      new cmd heading: 111.268031 deg.

2025-08-21T06:45:25.217Z,1755758725.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.941993 target range: 149.103027 and range: 149.90 m.
2025-08-21T06:45:25.310Z,1755758725.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260800
2025-08-21T06:45:25.560Z,1755758725.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511003
2025-08-21T06:45:25.645Z,1755758725.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-08-21T06:45:25.648Z,1755758725.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.103027 m,
      nav range: 135.726654 m,
      bearing: 126.028728 deg,
      approach rate: -0.509189 m/s,
      LOS rate: 0.028298 deg/s,
      cmd heading: 111.268030 deg,
      new cmd heading: 111.304699 deg.

2025-08-21T06:45:25.649Z,1755758725.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.942634 target range: 149.103027 and range: 149.90 m.
2025-08-21T06:45:25.812Z,1755758725.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763059
2025-08-21T06:45:26.043Z,1755758726.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-08-21T06:45:26.064Z,1755758726.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015158
2025-08-21T06:45:26.066Z,1755758726.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.103027 m,
      nav range: 135.525146 m,
      bearing: 126.039944 deg,
      approach rate: -0.506400 m/s,
      LOS rate: 0.028228 deg/s,
      cmd heading: 111.304701 deg,
      new cmd heading: 111.338399 deg.

2025-08-21T06:45:26.067Z,1755758726.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.943222 target range: 149.103027 and range: 149.90 m.
2025-08-21T06:45:26.320Z,1755758726.320 [DAT](INFO): DAT read: Rx Time:06:45:24.9762

2025-08-21T06:45:26.321Z,1755758726.321 [DAT](INFO): Rx dataTimestamp_ set to:1755758726.320393
2025-08-21T06:45:26.322Z,1755758726.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272382
2025-08-21T06:45:26.432Z,1755758726.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.10 m.
2025-08-21T06:45:26.434Z,1755758726.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.103027 m,
      nav range: 135.325577 m,
      bearing: 126.050990 deg,
      approach rate: -0.513474 m/s,
      LOS rate: 0.028463 deg/s,
      cmd heading: 111.338401 deg,
      new cmd heading: 111.371589 deg.

2025-08-21T06:45:26.435Z,1755758726.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.943801 target range: 149.103027 and range: 149.90 m.
2025-08-21T06:45:26.568Z,1755758726.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519009
2025-08-21T06:45:26.826Z,1755758726.826 [DAT](INFO): DAT read: 06:45:24.9762 LVL= 30128, 32753, 32754, 32755, AGC= 66, IDX= 417,-0.06, 1.826,-0.108, 1.367, 1.262, PHS= 0.666,-1.325, 0.061, RAW= 132.8,   6.8, CAL= 132.9,   8.0, ROT=  17.1,  -8.0

2025-08-21T06:45:26.832Z,1755758726.832 [DAT](INFO): got valid direction response:
 06:45:24.9762 LVL= 30128, 32753, 32754, 32755, AGC= 66, IDX= 417,-0.06, 1.826,-0.108, 1.367, 1.262, PHS= 0.666,-1.325, 0.061, RAW= 132.8,   6.8, CAL= 132.9,   8.0, ROT=  17.1,  -8.0

2025-08-21T06:45:26.833Z,1755758726.833 [DAT](INFO): DAT read: Bearing 265.1,  30.0 (Local)

2025-08-21T06:45:26.833Z,1755758726.833 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.1,  30.0 (Local)

2025-08-21T06:45:26.835Z,1755758726.835 [DAT](INFO): DAT read: Range 11 to 50 : 147.9 m  (Round-trip  197.3 ms) speed  0.7 m/s

2025-08-21T06:45:26.836Z,1755758726.836 [DAT](INFO): DAT read: user:1870>

2025-08-21T06:45:26.836Z,1755758726.836 [DAT](INFO): DAT read: Tx time:06:45:26.0748

2025-08-21T06:45:26.837Z,1755758726.837 [DAT](INFO): Ping request sent.
2025-08-21T06:45:26.837Z,1755758726.837 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:26.837Z,1755758726.837 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:26.838Z,1755758726.838 [DAT](INFO): direction in FSK: [0.946491,0.291179,0.139173]
2025-08-21T06:45:26.838Z,1755758726.838 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:26.838Z,1755758726.838 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:26.866Z,1755758726.866 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:26.866Z,1755758726.866 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:26.932Z,1755758726.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.899994 m,
      deltaT: 3.783420 s,
      deltaX: -2.000000 m,
      approachRate: -0.528622 m/s,
      rangeRepo size: 4

2025-08-21T06:45:26.934Z,1755758726.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.110641 m,
      bearing: 127.302731 deg,
      lat: 36.779470 deg,
      lon: -121.859518 deg,
      deltaT: 3.783420 s,
      deltaX: -1.992386 m,
      approachRate: -0.526610 m/s,
      posRepo size: 4

2025-08-21T06:45:26.935Z,1755758726.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.11 m.
2025-08-21T06:45:26.942Z,1755758726.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.110641 m,
      nav range: 135.134094 m,
      bearing: 126.048334 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.028463 deg/s,
      cmd heading: 111.371589 deg,
      new cmd heading: 111.413605 deg.

2025-08-21T06:45:26.943Z,1755758726.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.944534 target range: 147.110641 and range: 147.90 m.
2025-08-21T06:45:27.266Z,1755758727.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:27.268Z,1755758727.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.11 m.
2025-08-21T06:45:27.271Z,1755758727.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.110641 m,
      nav range: 134.943741 m,
      bearing: 126.058211 deg,
      approach rate: -0.551831 m/s,
      LOS rate: 0.028674 deg/s,
      cmd heading: 111.413602 deg,
      new cmd heading: 111.443275 deg.

2025-08-21T06:45:27.272Z,1755758727.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.945052 target range: 147.110641 and range: 147.90 m.
2025-08-21T06:45:27.325Z,1755758727.325 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:27.325Z,1755758727.325 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:27.326Z,1755758727.326 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:27.576Z,1755758727.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.739731
2025-08-21T06:45:27.690Z,1755758727.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.11 m.
2025-08-21T06:45:27.693Z,1755758727.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.110641 m,
      nav range: 134.722061 m,
      bearing: 126.071282 deg,
      approach rate: -0.526273 m/s,
      LOS rate: 0.031081 deg/s,
      cmd heading: 111.443272 deg,
      new cmd heading: 111.482548 deg.

2025-08-21T06:45:27.694Z,1755758727.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.945737 target range: 147.110641 and range: 147.90 m.
2025-08-21T06:45:27.828Z,1755758727.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991595
2025-08-21T06:45:28.080Z,1755758728.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243541
2025-08-21T06:45:28.084Z,1755758728.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.11 m.
2025-08-21T06:45:28.088Z,1755758728.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.110641 m,
      nav range: 134.514954 m,
      bearing: 126.083492 deg,
      approach rate: -0.524454 m/s,
      LOS rate: 0.030967 deg/s,
      cmd heading: 111.482546 deg,
      new cmd heading: 111.519233 deg.

2025-08-21T06:45:28.089Z,1755758728.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.946378 target range: 147.110641 and range: 147.90 m.
2025-08-21T06:45:28.332Z,1755758728.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495453
2025-08-21T06:45:28.466Z,1755758728.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.11 m.
2025-08-21T06:45:28.469Z,1755758728.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.110641 m,
      nav range: 134.312790 m,
      bearing: 126.095362 deg,
      approach rate: -0.529324 m/s,
      LOS rate: 0.031126 deg/s,
      cmd heading: 111.519231 deg,
      new cmd heading: 111.554895 deg.

2025-08-21T06:45:28.470Z,1755758728.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.947000 target range: 147.110641 and range: 147.90 m.
2025-08-21T06:45:28.586Z,1755758728.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748979
2025-08-21T06:45:28.836Z,1755758728.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999521
2025-08-21T06:45:28.902Z,1755758728.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.11 m.
2025-08-21T06:45:28.904Z,1755758728.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.110641 m,
      nav range: 134.079391 m,
      bearing: 126.109189 deg,
      approach rate: -0.536366 m/s,
      LOS rate: 0.031831 deg/s,
      cmd heading: 111.554898 deg,
      new cmd heading: 111.596451 deg.

2025-08-21T06:45:28.905Z,1755758728.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.947726 target range: 147.110641 and range: 147.90 m.
2025-08-21T06:45:29.088Z,1755758729.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251403
2025-08-21T06:45:29.276Z,1755758729.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:29.278Z,1755758729.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.11 m.
2025-08-21T06:45:29.281Z,1755758729.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.110641 m,
      nav range: 133.877441 m,
      bearing: 126.121094 deg,
      approach rate: -0.536513 m/s,
      LOS rate: 0.031674 deg/s,
      cmd heading: 111.596453 deg,
      new cmd heading: 111.632221 deg.

2025-08-21T06:45:29.282Z,1755758729.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.948350 target range: 147.110641 and range: 147.90 m.
2025-08-21T06:45:29.341Z,1755758729.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503808
2025-08-21T06:45:29.592Z,1755758729.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755503
2025-08-21T06:45:29.718Z,1755758729.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.11 m.
2025-08-21T06:45:29.723Z,1755758729.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.110641 m,
      nav range: 133.644974 m,
      bearing: 126.135624 deg,
      approach rate: -0.529188 m/s,
      LOS rate: 0.033134 deg/s,
      cmd heading: 111.632222 deg,
      new cmd heading: 111.675889 deg.

2025-08-21T06:45:29.725Z,1755758729.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.949112 target range: 147.110641 and range: 147.90 m.
2025-08-21T06:45:29.845Z,1755758729.845 [DAT](INFO): DAT read: Rx Time:06:45:28.6737

2025-08-21T06:45:29.845Z,1755758729.845 [DAT](INFO): Rx dataTimestamp_ set to:1755758729.844808
2025-08-21T06:45:29.846Z,1755758729.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008900
2025-08-21T06:45:30.084Z,1755758730.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.11 m.
2025-08-21T06:45:30.087Z,1755758730.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.110641 m,
      nav range: 133.447830 m,
      bearing: 126.147856 deg,
      approach rate: -0.537385 m/s,
      LOS rate: 0.033393 deg/s,
      cmd heading: 111.675888 deg,
      new cmd heading: 111.712640 deg.

2025-08-21T06:45:30.088Z,1755758730.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.949753 target range: 147.110641 and range: 147.90 m.
2025-08-21T06:45:30.096Z,1755758730.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259579
2025-08-21T06:45:30.354Z,1755758730.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516309
2025-08-21T06:45:30.509Z,1755758730.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.11 m.
2025-08-21T06:45:30.512Z,1755758730.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.110641 m,
      nav range: 133.232849 m,
      bearing: 126.161147 deg,
      approach rate: -0.505454 m/s,
      LOS rate: 0.031298 deg/s,
      cmd heading: 111.712641 deg,
      new cmd heading: 111.752576 deg.

2025-08-21T06:45:30.513Z,1755758730.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.950450 target range: 147.110641 and range: 147.90 m.
2025-08-21T06:45:30.617Z,1755758730.617 [DAT](INFO): DAT read: 06:45:28.6737 LVL= 29680, 32721, 32754, 32755, AGC= 63, IDX= 423,-0.12,-2.539, 1.815,-3.012,-3.063, PHS= 0.626,-1.360, 0.007, RAW= 132.3,   8.3, CAL= 132.2,   9.5, ROT=  17.8,  -9.5

2025-08-21T06:45:30.618Z,1755758730.618 [DAT](INFO): got valid direction response:
 06:45:28.6737 LVL= 29680, 32721, 32754, 32755, AGC= 63, IDX= 423,-0.12,-2.539, 1.815,-3.012,-3.063, PHS= 0.626,-1.360, 0.007, RAW= 132.3,   8.3, CAL= 132.2,   9.5, ROT=  17.8,  -9.5

2025-08-21T06:45:30.619Z,1755758730.619 [DAT](INFO): DAT read: Bearing 267.3,  27.9 (Local)

2025-08-21T06:45:30.619Z,1755758730.619 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.3,  27.9 (Local)

2025-08-21T06:45:30.625Z,1755758730.625 [DAT](INFO): DAT read: Range 11 to 50 : 146.1 m  (Round-trip  194.8 ms) speed  0.5 m/s

2025-08-21T06:45:30.626Z,1755758730.626 [DAT](INFO): DAT read: user:1871>

2025-08-21T06:45:30.627Z,1755758730.627 [DAT](INFO): DAT read: Tx time:06:45:29.7748

2025-08-21T06:45:30.635Z,1755758730.635 [DAT](INFO): Ping request sent.
2025-08-21T06:45:30.635Z,1755758730.635 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:30.636Z,1755758730.636 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:30.637Z,1755758730.637 [DAT](INFO): direction in FSK: [0.939072,0.301503,0.165048]
2025-08-21T06:45:30.637Z,1755758730.637 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:30.637Z,1755758730.637 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:30.645Z,1755758730.645 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:30.646Z,1755758730.646 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:30.919Z,1755758730.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 146.100006 m,
      deltaT: 3.789808 s,
      deltaX: -1.799988 m,
      approachRate: -0.474955 m/s,
      rangeRepo size: 4

2025-08-21T06:45:30.921Z,1755758730.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.320770 m,
      bearing: 128.412818 deg,
      lat: 36.779459 deg,
      lon: -121.859514 deg,
      deltaT: 3.789808 s,
      deltaX: -1.789871 m,
      approachRate: -0.472285 m/s,
      posRepo size: 4

2025-08-21T06:45:30.922Z,1755758730.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.32 m.
2025-08-21T06:45:30.941Z,1755758730.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.320770 m,
      nav range: 134.064423 m,
      bearing: 126.495555 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.031298 deg/s,
      cmd heading: 111.752577 deg,
      new cmd heading: 111.790990 deg.

2025-08-21T06:45:30.942Z,1755758730.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.951121 target range: 145.320770 and range: 146.10 m.
2025-08-21T06:45:31.294Z,1755758731.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:31.296Z,1755758731.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.32 m.
2025-08-21T06:45:31.299Z,1755758731.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.320770 m,
      nav range: 133.858154 m,
      bearing: 126.507475 deg,
      approach rate: -0.546496 m/s,
      LOS rate: 0.031629 deg/s,
      cmd heading: 111.790990 deg,
      new cmd heading: 111.826804 deg.

2025-08-21T06:45:31.300Z,1755758731.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.951746 target range: 145.320770 and range: 146.10 m.
2025-08-21T06:45:31.357Z,1755758731.357 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:31.357Z,1755758731.357 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:31.358Z,1755758731.358 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:31.608Z,1755758731.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972786
2025-08-21T06:45:31.749Z,1755758731.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.32 m.
2025-08-21T06:45:31.756Z,1755758731.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.320770 m,
      nav range: 133.617966 m,
      bearing: 126.521857 deg,
      approach rate: -0.530496 m/s,
      LOS rate: 0.031823 deg/s,
      cmd heading: 111.826801 deg,
      new cmd heading: 111.870026 deg.

2025-08-21T06:45:31.757Z,1755758731.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.952500 target range: 145.320770 and range: 146.10 m.
2025-08-21T06:45:31.861Z,1755758731.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225614
2025-08-21T06:45:32.111Z,1755758732.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.32 m.
2025-08-21T06:45:32.112Z,1755758732.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476836
2025-08-21T06:45:32.115Z,1755758732.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.320770 m,
      nav range: 133.409637 m,
      bearing: 126.534375 deg,
      approach rate: -0.575445 m/s,
      LOS rate: 0.034632 deg/s,
      cmd heading: 111.870029 deg,
      new cmd heading: 111.907642 deg.

2025-08-21T06:45:32.116Z,1755758732.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.953157 target range: 145.320770 and range: 146.10 m.
2025-08-21T06:45:32.364Z,1755758732.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728699
2025-08-21T06:45:32.502Z,1755758732.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.32 m.
2025-08-21T06:45:32.505Z,1755758732.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.320770 m,
      nav range: 133.193985 m,
      bearing: 126.547106 deg,
      approach rate: -0.550517 m/s,
      LOS rate: 0.032552 deg/s,
      cmd heading: 111.907643 deg,
      new cmd heading: 111.945898 deg.

2025-08-21T06:45:32.506Z,1755758732.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.953825 target range: 145.320770 and range: 146.10 m.
2025-08-21T06:45:32.617Z,1755758732.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981033
2025-08-21T06:45:32.868Z,1755758732.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232729
2025-08-21T06:45:32.969Z,1755758732.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.32 m.
2025-08-21T06:45:32.977Z,1755758732.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.320770 m,
      nav range: 132.945923 m,
      bearing: 126.562625 deg,
      approach rate: -0.531227 m/s,
      LOS rate: 0.033295 deg/s,
      cmd heading: 111.945899 deg,
      new cmd heading: 111.992541 deg.

2025-08-21T06:45:32.978Z,1755758732.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.954639 target range: 145.320770 and range: 146.10 m.
2025-08-21T06:45:33.120Z,1755758733.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484875
2025-08-21T06:45:33.325Z,1755758733.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:33.327Z,1755758733.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.32 m.
2025-08-21T06:45:33.330Z,1755758733.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.320770 m,
      nav range: 132.740479 m,
      bearing: 126.575522 deg,
      approach rate: -0.574351 m/s,
      LOS rate: 0.036112 deg/s,
      cmd heading: 111.992542 deg,
      new cmd heading: 112.031294 deg.

2025-08-21T06:45:33.331Z,1755758733.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.955315 target range: 145.320770 and range: 146.10 m.
2025-08-21T06:45:33.374Z,1755758733.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738266
2025-08-21T06:45:33.625Z,1755758733.625 [DAT](INFO): DAT read: Rx Time:06:45:32.3710

2025-08-21T06:45:33.625Z,1755758733.625 [DAT](INFO): Rx dataTimestamp_ set to:1755758733.624714
2025-08-21T06:45:33.626Z,1755758733.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990061
2025-08-21T06:45:33.762Z,1755758733.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.32 m.
2025-08-21T06:45:33.765Z,1755758733.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.320770 m,
      nav range: 132.502106 m,
      bearing: 126.589500 deg,
      approach rate: -0.547852 m/s,
      LOS rate: 0.032184 deg/s,
      cmd heading: 112.031297 deg,
      new cmd heading: 112.073307 deg.

2025-08-21T06:45:33.766Z,1755758733.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.956048 target range: 145.320770 and range: 146.10 m.
2025-08-21T06:45:33.876Z,1755758733.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240865
2025-08-21T06:45:34.134Z,1755758734.134 [DAT](INFO): DAT read: 06:45:32.3710 LVL= 27248, 32753, 32754, 32755, AGC= 63, IDX= 412, 0.33, 0.725,-1.216, 0.226, 0.209, PHS= 0.618,-1.380,-0.027, RAW= 131.6,   9.0, CAL= 131.5,  10.2, ROT=  18.5, -10.2

2025-08-21T06:45:34.136Z,1755758734.136 [DAT](INFO): got valid direction response:
 06:45:32.3710 LVL= 27248, 32753, 32754, 32755, AGC= 63, IDX= 412, 0.33, 0.725,-1.216, 0.226, 0.209, PHS= 0.618,-1.380,-0.027, RAW= 131.6,   9.0, CAL= 131.5,  10.2, ROT=  18.5, -10.2

2025-08-21T06:45:34.137Z,1755758734.137 [DAT](INFO): DAT read: Bearing 268.7,  26.2 (Local)

2025-08-21T06:45:34.137Z,1755758734.137 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.7,  26.2 (Local)

2025-08-21T06:45:34.139Z,1755758734.139 [DAT](INFO): DAT read: Range 11 to 50 : 144.0 m  (Round-trip  192.1 ms) speed  0.3 m/s

2025-08-21T06:45:34.139Z,1755758734.139 [DAT](INFO): DAT read: user:1872>

2025-08-21T06:45:34.140Z,1755758734.140 [DAT](INFO): DAT read: Tx time:06:45:33.4748

2025-08-21T06:45:34.141Z,1755758734.141 [DAT](INFO): Ping request sent.
2025-08-21T06:45:34.141Z,1755758734.141 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:34.141Z,1755758734.141 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:34.143Z,1755758734.143 [DAT](INFO): direction in FSK: [0.933336,0.312290,0.177085]
2025-08-21T06:45:34.148Z,1755758734.148 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:34.148Z,1755758734.148 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:34.161Z,1755758734.161 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:34.161Z,1755758734.161 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:34.198Z,1755758734.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 144.000000 m,
      deltaT: 3.517912 s,
      deltaX: -2.100006 m,
      approachRate: -0.596947 m/s,
      rangeRepo size: 4

2025-08-21T06:45:34.214Z,1755758734.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.232071 m,
      bearing: 129.560627 deg,
      lat: 36.779433 deg,
      lon: -121.859514 deg,
      deltaT: 3.517912 s,
      deltaX: -2.088699 m,
      approachRate: -0.593733 m/s,
      posRepo size: 4

2025-08-21T06:45:34.224Z,1755758734.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.23 m.
2025-08-21T06:45:34.236Z,1755758734.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.232071 m,
      nav range: 134.092773 m,
      bearing: 127.616449 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.032184 deg/s,
      cmd heading: 112.073309 deg,
      new cmd heading: 112.115316 deg.

2025-08-21T06:45:34.237Z,1755758734.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.956781 target range: 143.232071 and range: 144.00 m.
2025-08-21T06:45:34.662Z,1755758734.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.23 m.
2025-08-21T06:45:34.669Z,1755758734.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.232071 m,
      nav range: 133.820160 m,
      bearing: 127.634394 deg,
      approach rate: -0.586582 m/s,
      LOS rate: 0.038690 deg/s,
      cmd heading: 112.115315 deg,
      new cmd heading: 112.169258 deg.

2025-08-21T06:45:34.670Z,1755758734.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.957723 target range: 143.232071 and range: 144.00 m.
2025-08-21T06:45:35.028Z,1755758735.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.23 m.
2025-08-21T06:45:35.032Z,1755758735.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.232071 m,
      nav range: 133.595108 m,
      bearing: 127.649831 deg,
      approach rate: -0.614221 m/s,
      LOS rate: 0.042202 deg/s,
      cmd heading: 112.169260 deg,
      new cmd heading: 112.215648 deg.

2025-08-21T06:45:35.032Z,1755758735.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.958533 target range: 143.232071 and range: 144.00 m.
2025-08-21T06:45:35.506Z,1755758735.506 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:35.508Z,1755758735.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.23 m.
2025-08-21T06:45:35.511Z,1755758735.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.232071 m,
      nav range: 133.331985 m,
      bearing: 127.667663 deg,
      approach rate: -0.548172 m/s,
      LOS rate: 0.037224 deg/s,
      cmd heading: 112.215650 deg,
      new cmd heading: 112.269253 deg.

2025-08-21T06:45:35.512Z,1755758735.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.959468 target range: 143.232071 and range: 144.00 m.
2025-08-21T06:45:35.645Z,1755758735.645 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:35.645Z,1755758735.645 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:35.645Z,1755758735.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:35.896Z,1755758735.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755377
2025-08-21T06:45:36.014Z,1755758736.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.23 m.
2025-08-21T06:45:36.017Z,1755758736.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.232071 m,
      nav range: 133.060333 m,
      bearing: 127.685049 deg,
      approach rate: -0.536866 m/s,
      LOS rate: 0.034430 deg/s,
      cmd heading: 112.269254 deg,
      new cmd heading: 112.321518 deg.

2025-08-21T06:45:36.018Z,1755758736.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.960380 target range: 143.232071 and range: 144.00 m.
2025-08-21T06:45:36.149Z,1755758736.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008012
2025-08-21T06:45:36.401Z,1755758736.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259779
2025-08-21T06:45:36.480Z,1755758736.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.23 m.
2025-08-21T06:45:36.482Z,1755758736.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.232071 m,
      nav range: 132.818100 m,
      bearing: 127.700517 deg,
      approach rate: -0.523741 m/s,
      LOS rate: 0.033506 deg/s,
      cmd heading: 112.321518 deg,
      new cmd heading: 112.368008 deg.

2025-08-21T06:45:36.484Z,1755758736.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.961192 target range: 143.232071 and range: 144.00 m.
2025-08-21T06:45:36.656Z,1755758736.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514689
2025-08-21T06:45:36.896Z,1755758736.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.23 m.
2025-08-21T06:45:36.898Z,1755758736.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.232071 m,
      nav range: 132.587570 m,
      bearing: 127.713586 deg,
      approach rate: -0.550819 m/s,
      LOS rate: 0.031281 deg/s,
      cmd heading: 112.368005 deg,
      new cmd heading: 112.407280 deg.

2025-08-21T06:45:36.900Z,1755758736.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.961877 target range: 143.232071 and range: 144.00 m.
2025-08-21T06:45:36.904Z,1755758736.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763580
2025-08-21T06:45:37.157Z,1755758737.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015610
2025-08-21T06:45:37.273Z,1755758737.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.23 m.
2025-08-21T06:45:37.276Z,1755758737.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.232071 m,
      nav range: 132.385742 m,
      bearing: 127.725056 deg,
      approach rate: -0.534997 m/s,
      LOS rate: 0.030451 deg/s,
      cmd heading: 112.407278 deg,
      new cmd heading: 112.441742 deg.

2025-08-21T06:45:37.276Z,1755758737.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.962479 target range: 143.232071 and range: 144.00 m.
2025-08-21T06:45:37.408Z,1755758737.408 [DAT](INFO): DAT read: Rx Time:06:45:36.0684

2025-08-21T06:45:37.409Z,1755758737.409 [DAT](INFO): Rx dataTimestamp_ set to:1755758737.408425
2025-08-21T06:45:37.409Z,1755758737.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268454
2025-08-21T06:45:37.663Z,1755758737.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521597
2025-08-21T06:45:37.816Z,1755758737.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:37.818Z,1755758737.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.23 m.
2025-08-21T06:45:37.825Z,1755758737.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.232071 m,
      nav range: 132.098755 m,
      bearing: 127.739893 deg,
      approach rate: -0.526179 m/s,
      LOS rate: 0.027261 deg/s,
      cmd heading: 112.441743 deg,
      new cmd heading: 112.486350 deg.

2025-08-21T06:45:37.826Z,1755758737.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.963257 target range: 143.232071 and range: 144.00 m.
2025-08-21T06:45:37.918Z,1755758737.918 [DAT](INFO): DAT read: 06:45:36.0684 LVL= 31904, 32753, 32754, 32755, AGC= 61, IDX= 417,-0.14, 0.846,-1.130, 0.283, 0.312, PHS= 0.636,-1.397,-0.073, RAW= 129.9,   9.4, CAL= 129.9,  10.6, ROT=  20.1, -10.6

2025-08-21T06:45:37.920Z,1755758737.920 [DAT](INFO): got valid direction response:
 06:45:36.0684 LVL= 31904, 32753, 32754, 32755, AGC= 61, IDX= 417,-0.14, 0.846,-1.130, 0.283, 0.312, PHS= 0.636,-1.397,-0.073, RAW= 129.9,   9.4, CAL= 129.9,  10.6, ROT=  20.1, -10.6

2025-08-21T06:45:37.922Z,1755758737.922 [DAT](INFO): DAT read: Bearing 269.6,  25.7 (Local)

2025-08-21T06:45:37.922Z,1755758737.922 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.6,  25.7 (Local)

2025-08-21T06:45:37.925Z,1755758737.925 [DAT](INFO): DAT read: Range 11 to 50 : 142.1 m  (Round-trip  189.5 ms) speed  0.5 m/s

2025-08-21T06:45:37.926Z,1755758737.926 [DAT](INFO): DAT read: user:1873>

2025-08-21T06:45:37.927Z,1755758737.927 [DAT](INFO): DAT read: Tx time:06:45:37.1748

2025-08-21T06:45:37.928Z,1755758737.928 [DAT](INFO): Ping request sent.
2025-08-21T06:45:37.928Z,1755758737.928 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:37.928Z,1755758737.928 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:37.930Z,1755758737.930 [DAT](INFO): direction in FSK: [0.923069,0.337795,0.183951]
2025-08-21T06:45:37.930Z,1755758737.930 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:37.930Z,1755758737.930 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:37.934Z,1755758737.934 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:37.934Z,1755758737.934 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:38.223Z,1755758738.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 142.100006 m,
      deltaT: 3.784098 s,
      deltaX: -1.899994 m,
      approachRate: -0.502100 m/s,
      rangeRepo size: 4

2025-08-21T06:45:38.229Z,1755758738.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.341995 m,
      bearing: 131.409912 deg,
      lat: 36.779387 deg,
      lon: -121.859521 deg,
      deltaT: 3.784098 s,
      deltaX: -1.890076 m,
      approachRate: -0.499479 m/s,
      posRepo size: 4

2025-08-21T06:45:38.230Z,1755758738.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:38.241Z,1755758738.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 134.544388 m,
      bearing: 129.635326 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.027261 deg/s,
      cmd heading: 112.486351 deg,
      new cmd heading: 112.519390 deg.

2025-08-21T06:45:38.242Z,1755758738.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.963834 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:38.576Z,1755758738.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:38.578Z,1755758738.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 134.332962 m,
      bearing: 129.649043 deg,
      approach rate: -0.597526 m/s,
      LOS rate: 0.038826 deg/s,
      cmd heading: 112.519389 deg,
      new cmd heading: 112.560603 deg.

2025-08-21T06:45:38.580Z,1755758738.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.964553 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:39.063Z,1755758739.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:39.066Z,1755758739.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 134.080627 m,
      bearing: 129.664824 deg,
      approach rate: -0.517997 m/s,
      LOS rate: 0.032456 deg/s,
      cmd heading: 112.560602 deg,
      new cmd heading: 112.608033 deg.

2025-08-21T06:45:39.067Z,1755758739.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.965381 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:39.455Z,1755758739.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:39.458Z,1755758739.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 133.877045 m,
      bearing: 129.677600 deg,
      approach rate: -0.519278 m/s,
      LOS rate: 0.032638 deg/s,
      cmd heading: 112.608031 deg,
      new cmd heading: 112.646419 deg.

2025-08-21T06:45:39.459Z,1755758739.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.966051 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:39.967Z,1755758739.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:39.969Z,1755758739.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:39.972Z,1755758739.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 133.614334 m,
      bearing: 129.694080 deg,
      approach rate: -0.511265 m/s,
      LOS rate: 0.032135 deg/s,
      cmd heading: 112.646417 deg,
      new cmd heading: 112.695954 deg.

2025-08-21T06:45:39.973Z,1755758739.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.966915 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:40.183Z,1755758740.183 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:40.183Z,1755758740.183 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:40.184Z,1755758740.184 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:40.341Z,1755758740.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:40.364Z,1755758740.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 133.423874 m,
      bearing: 129.705965 deg,
      approach rate: -0.512542 m/s,
      LOS rate: 0.032028 deg/s,
      cmd heading: 112.695956 deg,
      new cmd heading: 112.731661 deg.

2025-08-21T06:45:40.365Z,1755758740.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.967539 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:40.433Z,1755758740.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505107
2025-08-21T06:45:40.688Z,1755758740.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759025
2025-08-21T06:45:40.814Z,1755758740.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:40.821Z,1755758740.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 133.191223 m,
      bearing: 129.719937 deg,
      approach rate: -0.491075 m/s,
      LOS rate: 0.029543 deg/s,
      cmd heading: 112.731664 deg,
      new cmd heading: 112.773653 deg.

2025-08-21T06:45:40.822Z,1755758740.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.968271 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:40.936Z,1755758740.936 [DAT](INFO): DAT read: Rx Time:06:45:39.7983

2025-08-21T06:45:40.937Z,1755758740.937 [DAT](INFO): Rx dataTimestamp_ set to:1755758740.936380
2025-08-21T06:45:40.937Z,1755758740.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009323
2025-08-21T06:45:41.156Z,1755758741.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:41.160Z,1755758741.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 133.005051 m,
      bearing: 129.731153 deg,
      approach rate: -0.545951 m/s,
      LOS rate: 0.032938 deg/s,
      cmd heading: 112.773650 deg,
      new cmd heading: 112.807346 deg.

2025-08-21T06:45:41.162Z,1755758741.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.968860 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:41.189Z,1755758741.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261361
2025-08-21T06:45:41.440Z,1755758741.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512354
2025-08-21T06:45:41.567Z,1755758741.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:41.570Z,1755758741.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 132.789352 m,
      bearing: 129.744150 deg,
      approach rate: -0.523879 m/s,
      LOS rate: 0.031617 deg/s,
      cmd heading: 112.807343 deg,
      new cmd heading: 112.846396 deg.

2025-08-21T06:45:41.571Z,1755758741.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.969541 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:41.736Z,1755758741.736 [DAT](INFO): DAT read: 06:45:39.7983 LVL= 32240, 32753, 32754, 32755, AGC= 64, IDX= 243, 0.38, 2.016,-0.002, 1.460, 1.518, PHS= 0.600,-1.475,-0.102, RAW= 130.6,  10.7, CAL= 130.3,  11.9, ROT=  19.7, -11.9

2025-08-21T06:45:41.737Z,1755758741.737 [DAT](INFO): got valid direction response:
 06:45:39.7983 LVL= 32240, 32753, 32754, 32755, AGC= 64, IDX= 243, 0.38, 2.016,-0.002, 1.460, 1.518, PHS= 0.600,-1.475,-0.102, RAW= 130.6,  10.7, CAL= 130.3,  11.9, ROT=  19.7, -11.9

2025-08-21T06:45:41.738Z,1755758741.738 [DAT](INFO): DAT read: Bearing 271.2,  23.8 (Local)

2025-08-21T06:45:41.738Z,1755758741.738 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.2,  23.8 (Local)

2025-08-21T06:45:41.744Z,1755758741.744 [DAT](INFO): DAT read: Range 11 to 50 : 164.5 m  (Round-trip  219.4 ms) speed  0.7 m/s

2025-08-21T06:45:41.744Z,1755758741.744 [DAT](INFO): DAT read: user:1874>

2025-08-21T06:45:41.745Z,1755758741.745 [DAT](INFO): DAT read: Tx time:06:45:40.9248

2025-08-21T06:45:41.745Z,1755758741.745 [DAT](INFO): Ping request sent.
2025-08-21T06:45:41.746Z,1755758741.746 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:41.746Z,1755758741.746 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:41.747Z,1755758741.747 [DAT](INFO): direction in FSK: [0.921237,0.329851,0.206204]
2025-08-21T06:45:41.752Z,1755758741.752 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:41.756Z,1755758741.756 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:41.759Z,1755758741.759 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:41.759Z,1755758741.759 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:42.004Z,1755758742.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 164.500000 m,
 deltaT: 3.782120 s,
 deltaX: 22.399994 m,
 approachRate: 5.922603 m/s,
 rangeRepo size: 4
2025-08-21T06:45:42.004Z,1755758742.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:42.007Z,1755758742.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 132.574982 m,
      bearing: 129.756615 deg,
      approach rate: -0.496713 m/s,
      LOS rate: 0.028930 deg/s,
      cmd heading: 112.846398 deg,
      new cmd heading: 112.883855 deg.

2025-08-21T06:45:42.012Z,1755758742.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.970195 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:42.378Z,1755758742.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:42.380Z,1755758742.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:42.382Z,1755758742.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 132.366379 m,
      bearing: 129.768784 deg,
      approach rate: -0.547207 m/s,
      LOS rate: 0.031970 deg/s,
      cmd heading: 112.883855 deg,
      new cmd heading: 112.920417 deg.

2025-08-21T06:45:42.384Z,1755758742.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.970833 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:42.449Z,1755758742.449 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:42.449Z,1755758742.449 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:42.449Z,1755758742.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:42.704Z,1755758742.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.957276
2025-08-21T06:45:42.904Z,1755758742.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:42.907Z,1755758742.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 132.088181 m,
      bearing: 129.787554 deg,
      approach rate: -0.530429 m/s,
      LOS rate: 0.035864 deg/s,
      cmd heading: 112.920417 deg,
      new cmd heading: 112.976846 deg.

2025-08-21T06:45:42.908Z,1755758742.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.971818 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:42.952Z,1755758742.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.206715
2025-08-21T06:45:43.206Z,1755758743.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.460199
2025-08-21T06:45:43.263Z,1755758743.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:43.266Z,1755758743.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 131.893478 m,
      bearing: 129.800749 deg,
      approach rate: -0.543072 m/s,
      LOS rate: 0.036858 deg/s,
      cmd heading: 112.976848 deg,
      new cmd heading: 113.016490 deg.

2025-08-21T06:45:43.267Z,1755758743.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.972510 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:43.458Z,1755758743.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711547
2025-08-21T06:45:43.670Z,1755758743.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:43.677Z,1755758743.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 131.675461 m,
      bearing: 129.815593 deg,
      approach rate: -0.534936 m/s,
      LOS rate: 0.036483 deg/s,
      cmd heading: 113.016490 deg,
      new cmd heading: 113.061097 deg.

2025-08-21T06:45:43.679Z,1755758743.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.973288 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:43.711Z,1755758743.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964527
2025-08-21T06:45:43.960Z,1755758743.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.214543
2025-08-21T06:45:44.095Z,1755758744.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:44.098Z,1755758744.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 131.448898 m,
      bearing: 129.831403 deg,
      approach rate: -0.533961 m/s,
      LOS rate: 0.037325 deg/s,
      cmd heading: 113.061098 deg,
      new cmd heading: 113.108609 deg.

2025-08-21T06:45:44.099Z,1755758744.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.974118 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:44.213Z,1755758744.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.466996
2025-08-21T06:45:44.464Z,1755758744.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.718729
2025-08-21T06:45:44.490Z,1755758744.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:44.496Z,1755758744.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:44.499Z,1755758744.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 131.245590 m,
      bearing: 129.845509 deg,
      approach rate: -0.506630 m/s,
      LOS rate: 0.035207 deg/s,
      cmd heading: 113.108609 deg,
      new cmd heading: 113.150994 deg.

2025-08-21T06:45:44.508Z,1755758744.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.974857 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:44.719Z,1755758744.719 [DAT](INFO): DAT read: Rx Time:06:45:43.5131

2025-08-21T06:45:44.720Z,1755758744.720 [DAT](INFO): Rx dataTimestamp_ set to:1755758744.719348
2025-08-21T06:45:44.720Z,1755758744.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.974566
2025-08-21T06:45:44.912Z,1755758744.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.34 m.
2025-08-21T06:45:44.914Z,1755758744.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.341995 m,
      nav range: 131.010666 m,
      bearing: 129.861479 deg,
      approach rate: -0.565728 m/s,
      LOS rate: 0.038527 deg/s,
      cmd heading: 113.150997 deg,
      new cmd heading: 113.198993 deg.

2025-08-21T06:45:44.916Z,1755758744.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.975695 target range: 141.341995 and range: 142.10 m.
2025-08-21T06:45:44.969Z,1755758744.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223490
2025-08-21T06:45:45.234Z,1755758745.234 [DAT](INFO): DAT read: 06:45:43.5131 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX=  75,-0.27,-2.086, 2.136,-2.622,-2.534, PHS= 0.549,-1.569,-0.132, RAW= 131.6,  12.3, CAL= 131.0,  13.4, ROT=  19.0, -13.4

2025-08-21T06:45:45.235Z,1755758745.235 [DAT](INFO): got valid direction response:
 06:45:43.5131 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX=  75,-0.27,-2.086, 2.136,-2.622,-2.534, PHS= 0.549,-1.569,-0.132, RAW= 131.6,  12.3, CAL= 131.0,  13.4, ROT=  19.0, -13.4

2025-08-21T06:45:45.236Z,1755758745.236 [DAT](INFO): DAT read: Bearing 273.0,  22.4 (Local)

2025-08-21T06:45:45.236Z,1755758745.236 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.0,  22.4 (Local)

2025-08-21T06:45:45.238Z,1755758745.238 [DAT](INFO): DAT read: Range 11 to 50 : 138.1 m  (Round-trip  184.2 ms) speed  0.4 m/s

2025-08-21T06:45:45.238Z,1755758745.238 [DAT](INFO): DAT read: user:1875>

2025-08-21T06:45:45.239Z,1755758745.239 [DAT](INFO): DAT read: Tx time:06:45:44.6263

2025-08-21T06:45:45.239Z,1755758745.239 [DAT](INFO): Ping request sent.
2025-08-21T06:45:45.239Z,1755758745.239 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:45.240Z,1755758745.240 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:45.241Z,1755758745.241 [DAT](INFO): direction in FSK: [0.919778,0.316705,0.231748]
2025-08-21T06:45:45.241Z,1755758745.241 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:45.241Z,1755758745.241 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:45.250Z,1755758745.250 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:45.250Z,1755758745.250 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:45.388Z,1755758745.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 138.100006 m,
      deltaT: 7.309498 s,
      deltaX: -4.000000 m,
      approachRate: -0.547233 m/s,
      rangeRepo size: 4

2025-08-21T06:45:45.390Z,1755758745.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.361084 m,
      bearing: 130.524930 deg,
      lat: 36.779374 deg,
      lon: -121.859525 deg,
      deltaT: 7.309498 s,
      deltaX: -3.980911 m,
      approachRate: -0.544622 m/s,
      posRepo size: 4

2025-08-21T06:45:45.395Z,1755758745.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-08-21T06:45:45.404Z,1755758745.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.361084 m,
      nav range: 131.426773 m,
      bearing: 130.438338 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.038527 deg/s,
      cmd heading: 113.198993 deg,
      new cmd heading: 113.253568 deg.

2025-08-21T06:45:45.405Z,1755758745.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.976648 target range: 137.361084 and range: 138.10 m.
2025-08-21T06:45:45.808Z,1755758745.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-08-21T06:45:45.815Z,1755758745.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.361084 m,
      nav range: 131.209152 m,
      bearing: 130.453842 deg,
      approach rate: -0.512252 m/s,
      LOS rate: 0.036555 deg/s,
      cmd heading: 113.253566 deg,
      new cmd heading: 113.300155 deg.

2025-08-21T06:45:45.816Z,1755758745.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.977461 target range: 137.361084 and range: 138.10 m.
2025-08-21T06:45:46.184Z,1755758746.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-08-21T06:45:46.194Z,1755758746.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.361084 m,
      nav range: 130.998001 m,
      bearing: 130.469835 deg,
      approach rate: -0.561763 m/s,
      LOS rate: 0.042618 deg/s,
      cmd heading: 113.300155 deg,
      new cmd heading: 113.348212 deg.

2025-08-21T06:45:46.202Z,1755758746.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.978299 target range: 137.361084 and range: 138.10 m.
2025-08-21T06:45:46.530Z,1755758746.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:46.533Z,1755758746.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-08-21T06:45:46.552Z,1755758746.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.361084 m,
      nav range: 130.794342 m,
      bearing: 130.485186 deg,
      approach rate: -0.584285 m/s,
      LOS rate: 0.044111 deg/s,
      cmd heading: 113.348212 deg,
      new cmd heading: 113.394338 deg.

2025-08-21T06:45:46.553Z,1755758746.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.979105 target range: 137.361084 and range: 138.10 m.
2025-08-21T06:45:46.732Z,1755758746.732 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:46.732Z,1755758746.732 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:46.732Z,1755758746.732 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:46.973Z,1755758746.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-08-21T06:45:46.976Z,1755758746.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.361084 m,
      nav range: 130.552017 m,
      bearing: 130.503352 deg,
      approach rate: -0.550233 m/s,
      LOS rate: 0.041324 deg/s,
      cmd heading: 113.394336 deg,
      new cmd heading: 113.448934 deg.

2025-08-21T06:45:46.977Z,1755758746.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.980057 target range: 137.361084 and range: 138.10 m.
2025-08-21T06:45:46.984Z,1755758746.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744827
2025-08-21T06:45:47.236Z,1755758747.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996716
2025-08-21T06:45:47.348Z,1755758747.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-08-21T06:45:47.350Z,1755758747.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.361084 m,
      nav range: 130.346298 m,
      bearing: 130.518665 deg,
      approach rate: -0.549833 m/s,
      LOS rate: 0.040994 deg/s,
      cmd heading: 113.448937 deg,
      new cmd heading: 113.494950 deg.

2025-08-21T06:45:47.352Z,1755758747.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.980861 target range: 137.361084 and range: 138.10 m.
2025-08-21T06:45:47.488Z,1755758747.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248958
2025-08-21T06:45:47.747Z,1755758747.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507292
2025-08-21T06:45:47.921Z,1755758747.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-08-21T06:45:47.925Z,1755758747.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.361084 m,
      nav range: 130.043671 m,
      bearing: 130.539264 deg,
      approach rate: -0.527325 m/s,
      LOS rate: 0.035977 deg/s,
      cmd heading: 113.494952 deg,
      new cmd heading: 113.556893 deg.

2025-08-21T06:45:47.926Z,1755758747.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.981942 target range: 137.361084 and range: 138.10 m.
2025-08-21T06:45:47.996Z,1755758747.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756911
2025-08-21T06:45:48.248Z,1755758748.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008849
2025-08-21T06:45:48.405Z,1755758748.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-08-21T06:45:48.407Z,1755758748.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.361084 m,
      nav range: 129.770523 m,
      bearing: 130.557491 deg,
      approach rate: -0.565011 m/s,
      LOS rate: 0.037782 deg/s,
      cmd heading: 113.556895 deg,
      new cmd heading: 113.611691 deg.

2025-08-21T06:45:48.408Z,1755758748.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.982898 target range: 137.361084 and range: 138.10 m.
2025-08-21T06:45:48.500Z,1755758748.500 [DAT](INFO): DAT read: Rx Time:06:45:47.2120

2025-08-21T06:45:48.501Z,1755758748.501 [DAT](INFO): Rx dataTimestamp_ set to:1755758748.500296
2025-08-21T06:45:48.501Z,1755758748.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261647
2025-08-21T06:45:48.753Z,1755758748.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513191
2025-08-21T06:45:48.982Z,1755758748.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:48.984Z,1755758748.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.36 m.
2025-08-21T06:45:48.987Z,1755758748.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.361084 m,
      nav range: 129.454208 m,
      bearing: 130.583063 deg,
      approach rate: -0.545761 m/s,
      LOS rate: 0.044229 deg/s,
      cmd heading: 113.611693 deg,
      new cmd heading: 113.688596 deg.

2025-08-21T06:45:48.988Z,1755758748.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.984240 target range: 137.361084 and range: 138.10 m.
2025-08-21T06:45:49.017Z,1755758749.017 [DAT](INFO): DAT read: 06:45:47.2120 LVL= 25952, 32721, 32754, 32755, AGC= 64, IDX= 415, 0.21, 0.378,-1.611,-0.140,-0.056, PHS= 0.535,-1.510,-0.128, RAW= 131.5,  12.2, CAL= 130.9,  13.3, ROT=  19.1, -13.3

2025-08-21T06:45:49.018Z,1755758749.018 [DAT](INFO): got valid direction response:
 06:45:47.2120 LVL= 25952, 32721, 32754, 32755, AGC= 64, IDX= 415, 0.21, 0.378,-1.611,-0.140,-0.056, PHS= 0.535,-1.510,-0.128, RAW= 131.5,  12.2, CAL= 130.9,  13.3, ROT=  19.1, -13.3

2025-08-21T06:45:49.019Z,1755758749.019 [DAT](INFO): DAT read: Bearing 273.2,  22.5 (Local)

2025-08-21T06:45:49.020Z,1755758749.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.2,  22.5 (Local)

2025-08-21T06:45:49.021Z,1755758749.021 [DAT](INFO): DAT read: Range 11 to 50 : 136.1 m  (Round-trip  181.5 ms) speed  0.4 m/s

2025-08-21T06:45:49.022Z,1755758749.022 [DAT](INFO): DAT read: user:1876>

2025-08-21T06:45:49.022Z,1755758749.022 [DAT](INFO): DAT read: Tx time:06:45:48.3248

2025-08-21T06:45:49.023Z,1755758749.023 [DAT](INFO): Ping request sent.
2025-08-21T06:45:49.023Z,1755758749.023 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:49.039Z,1755758749.039 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:49.040Z,1755758749.040 [DAT](INFO): direction in FSK: [0.919604,0.318442,0.230050]
2025-08-21T06:45:49.041Z,1755758749.041 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:49.041Z,1755758749.041 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:49.045Z,1755758749.045 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:49.045Z,1755758749.045 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:49.364Z,1755758749.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 136.100006 m,
      deltaT: 3.784682 s,
      deltaX: -2.000000 m,
      approachRate: -0.528446 m/s,
      rangeRepo size: 4

2025-08-21T06:45:49.366Z,1755758749.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.371353 m,
      bearing: 131.169573 deg,
      lat: 36.779365 deg,
      lon: -121.859528 deg,
      deltaT: 3.784682 s,
      deltaX: -1.989731 m,
      approachRate: -0.525733 m/s,
      posRepo size: 4

2025-08-21T06:45:49.367Z,1755758749.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.37 m.
2025-08-21T06:45:49.389Z,1755758749.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.371353 m,
      nav range: 129.688065 m,
      bearing: 131.030523 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.044229 deg/s,
      cmd heading: 113.688594 deg,
      new cmd heading: 113.738885 deg.

2025-08-21T06:45:49.390Z,1755758749.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.985118 target range: 135.371353 and range: 136.10 m.
2025-08-21T06:45:49.738Z,1755758749.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.37 m.
2025-08-21T06:45:49.741Z,1755758749.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.371353 m,
      nav range: 129.481216 m,
      bearing: 131.047671 deg,
      approach rate: -0.551222 m/s,
      LOS rate: 0.045771 deg/s,
      cmd heading: 113.738885 deg,
      new cmd heading: 113.790412 deg.

2025-08-21T06:45:49.742Z,1755758749.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.986017 target range: 135.371353 and range: 136.10 m.
2025-08-21T06:45:50.189Z,1755758750.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.37 m.
2025-08-21T06:45:50.192Z,1755758750.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.371353 m,
      nav range: 129.238419 m,
      bearing: 131.067253 deg,
      approach rate: -0.538590 m/s,
      LOS rate: 0.043519 deg/s,
      cmd heading: 113.790412 deg,
      new cmd heading: 113.849267 deg.

2025-08-21T06:45:50.193Z,1755758750.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.987045 target range: 135.371353 and range: 136.10 m.
2025-08-21T06:45:50.558Z,1755758750.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.37 m.
2025-08-21T06:45:50.565Z,1755758750.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.371353 m,
      nav range: 129.043930 m,
      bearing: 131.082912 deg,
      approach rate: -0.527542 m/s,
      LOS rate: 0.042540 deg/s,
      cmd heading: 113.849268 deg,
      new cmd heading: 113.896317 deg.

2025-08-21T06:45:50.566Z,1755758750.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.987866 target range: 135.371353 and range: 136.10 m.
2025-08-21T06:45:50.993Z,1755758750.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:50.999Z,1755758750.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.37 m.
2025-08-21T06:45:51.002Z,1755758751.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.371353 m,
      nav range: 128.810150 m,
      bearing: 131.100362 deg,
      approach rate: -0.534727 m/s,
      LOS rate: 0.039987 deg/s,
      cmd heading: 113.896314 deg,
      new cmd heading: 113.948760 deg.

2025-08-21T06:45:51.003Z,1755758751.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.988781 target range: 135.371353 and range: 136.10 m.
2025-08-21T06:45:51.020Z,1755758751.020 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:51.020Z,1755758751.020 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:51.020Z,1755758751.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:51.272Z,1755758751.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249360
2025-08-21T06:45:51.374Z,1755758751.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.37 m.
2025-08-21T06:45:51.381Z,1755758751.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.371353 m,
      nav range: 128.607361 m,
      bearing: 131.115517 deg,
      approach rate: -0.535891 m/s,
      LOS rate: 0.040111 deg/s,
      cmd heading: 113.948763 deg,
      new cmd heading: 113.994299 deg.

2025-08-21T06:45:51.382Z,1755758751.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.989576 target range: 135.371353 and range: 136.10 m.
2025-08-21T06:45:51.524Z,1755758751.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501315
2025-08-21T06:45:51.776Z,1755758751.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753447
2025-08-21T06:45:51.787Z,1755758751.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.37 m.
2025-08-21T06:45:51.790Z,1755758751.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.371353 m,
      nav range: 128.389893 m,
      bearing: 131.131796 deg,
      approach rate: -0.531093 m/s,
      LOS rate: 0.039823 deg/s,
      cmd heading: 113.994300 deg,
      new cmd heading: 114.043220 deg.

2025-08-21T06:45:51.820Z,1755758751.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.990430 target range: 135.371353 and range: 136.10 m.
2025-08-21T06:45:52.030Z,1755758752.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007480
2025-08-21T06:45:52.199Z,1755758752.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.37 m.
2025-08-21T06:45:52.217Z,1755758752.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.371353 m,
      nav range: 128.171432 m,
      bearing: 131.148008 deg,
      approach rate: -0.525746 m/s,
      LOS rate: 0.039083 deg/s,
      cmd heading: 114.043218 deg,
      new cmd heading: 114.091937 deg.

2025-08-21T06:45:52.218Z,1755758752.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.991280 target range: 135.371353 and range: 136.10 m.
2025-08-21T06:45:52.281Z,1755758752.281 [DAT](INFO): DAT read: Rx Time:06:45:50.9079

2025-08-21T06:45:52.282Z,1755758752.282 [DAT](INFO): Rx dataTimestamp_ set to:1755758752.281540
2025-08-21T06:45:52.283Z,1755758752.283 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259857
2025-08-21T06:45:52.533Z,1755758752.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509669
2025-08-21T06:45:52.641Z,1755758752.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.37 m.
2025-08-21T06:45:52.648Z,1755758752.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.371353 m,
      nav range: 127.950615 m,
      bearing: 131.164423 deg,
      approach rate: -0.499542 m/s,
      LOS rate: 0.037197 deg/s,
      cmd heading: 114.091938 deg,
      new cmd heading: 114.141266 deg.

2025-08-21T06:45:52.651Z,1755758752.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.992141 target range: 135.371353 and range: 136.10 m.
2025-08-21T06:45:52.790Z,1755758752.790 [DAT](INFO): DAT read: 06:45:50.9079 LVL= 28080, 32753, 30802, 32755, AGC= 65, IDX= 421, 0.01, 1.837,-0.123, 1.340, 1.408, PHS= 0.531,-1.486,-0.112, RAW= 131.8,  11.9, CAL= 131.3,  13.1, ROT=  18.7, -13.1

2025-08-21T06:45:52.792Z,1755758752.792 [DAT](INFO): got valid direction response:
 06:45:50.9079 LVL= 28080, 32753, 30802, 32755, AGC= 65, IDX= 421, 0.01, 1.837,-0.123, 1.340, 1.408, PHS= 0.531,-1.486,-0.112, RAW= 131.8,  11.9, CAL= 131.3,  13.1, ROT=  18.7, -13.1

2025-08-21T06:45:52.793Z,1755758752.793 [DAT](INFO): DAT read: Bearing 273.4,  22.7 (Local)

2025-08-21T06:45:52.793Z,1755758752.793 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.4,  22.7 (Local)

2025-08-21T06:45:52.794Z,1755758752.794 [DAT](INFO): DAT read: Range 11 to 50 : 134.2 m  (Round-trip  179.0 ms) speed  0.6 m/s

2025-08-21T06:45:52.795Z,1755758752.795 [DAT](INFO): DAT read: user:1877>

2025-08-21T06:45:52.796Z,1755758752.796 [DAT](INFO): DAT read: Tx time:06:45:52.0248

2025-08-21T06:45:52.796Z,1755758752.796 [DAT](INFO): Ping request sent.
2025-08-21T06:45:52.796Z,1755758752.796 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:52.797Z,1755758752.797 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:52.798Z,1755758752.798 [DAT](INFO): direction in FSK: [0.922560,0.312269,0.226651]
2025-08-21T06:45:52.798Z,1755758752.798 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:52.798Z,1755758752.798 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:52.802Z,1755758752.802 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:52.802Z,1755758752.802 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:53.150Z,1755758753.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 134.199997 m,
      deltaT: 3.778149 s,
      deltaX: -1.900009 m,
      approachRate: -0.502894 m/s,
      rangeRepo size: 4

2025-08-21T06:45:53.164Z,1755758753.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.479965 m,
      bearing: 131.324875 deg,
      lat: 36.779365 deg,
      lon: -121.859534 deg,
      deltaT: 3.778149 s,
      deltaX: -1.891388 m,
      approachRate: -0.500612 m/s,
      posRepo size: 4

2025-08-21T06:45:53.165Z,1755758753.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.48 m.
2025-08-21T06:45:53.175Z,1755758753.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.479965 m,
      nav range: 127.327705 m,
      bearing: 131.325986 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037197 deg/s,
      cmd heading: 114.141265 deg,
      new cmd heading: 114.197363 deg.

2025-08-21T06:45:53.178Z,1755758753.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.993120 target range: 133.479965 and range: 134.20 m.
2025-08-21T06:45:53.543Z,1755758753.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:53.545Z,1755758753.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.48 m.
2025-08-21T06:45:53.549Z,1755758753.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.479965 m,
      nav range: 127.111076 m,
      bearing: 131.342915 deg,
      approach rate: -0.538640 m/s,
      LOS rate: 0.042166 deg/s,
      cmd heading: 114.197361 deg,
      new cmd heading: 114.248237 deg.

2025-08-21T06:45:53.549Z,1755758753.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.994008 target range: 133.479965 and range: 134.20 m.
2025-08-21T06:45:53.792Z,1755758753.792 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:53.792Z,1755758753.792 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:53.792Z,1755758753.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:54.029Z,1755758754.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.48 m.
2025-08-21T06:45:54.031Z,1755758754.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.479965 m,
      nav range: 126.851715 m,
      bearing: 131.363861 deg,
      approach rate: -0.536884 m/s,
      LOS rate: 0.043446 deg/s,
      cmd heading: 114.248240 deg,
      new cmd heading: 114.311205 deg.

2025-08-21T06:45:54.032Z,1755758754.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.995107 target range: 133.479965 and range: 134.20 m.
2025-08-21T06:45:54.045Z,1755758754.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248247
2025-08-21T06:45:54.297Z,1755758754.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501015
2025-08-21T06:45:54.408Z,1755758754.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.48 m.
2025-08-21T06:45:54.410Z,1755758754.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.479965 m,
      nav range: 126.648605 m,
      bearing: 131.380202 deg,
      approach rate: -0.535617 m/s,
      LOS rate: 0.043162 deg/s,
      cmd heading: 114.311207 deg,
      new cmd heading: 114.360309 deg.

2025-08-21T06:45:54.411Z,1755758754.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.995964 target range: 133.479965 and range: 134.20 m.
2025-08-21T06:45:54.548Z,1755758754.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751964
2025-08-21T06:45:54.800Z,1755758754.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003930
2025-08-21T06:45:54.850Z,1755758754.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.48 m.
2025-08-21T06:45:54.853Z,1755758754.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.479965 m,
      nav range: 126.412354 m,
      bearing: 131.399219 deg,
      approach rate: -0.534411 m/s,
      LOS rate: 0.043098 deg/s,
      cmd heading: 114.360309 deg,
      new cmd heading: 114.417467 deg.

2025-08-21T06:45:54.854Z,1755758754.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.996961 target range: 133.479965 and range: 134.20 m.
2025-08-21T06:45:54.885Z,1755758754.885 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:45:55.053Z,1755758755.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256367
2025-08-21T06:45:55.271Z,1755758755.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.48 m.
2025-08-21T06:45:55.274Z,1755758755.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.479965 m,
      nav range: 126.187302 m,
      bearing: 131.416161 deg,
      approach rate: -0.534395 m/s,
      LOS rate: 0.040301 deg/s,
      cmd heading: 114.417464 deg,
      new cmd heading: 114.468381 deg.

2025-08-21T06:45:55.275Z,1755758755.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.997850 target range: 133.479965 and range: 134.20 m.
2025-08-21T06:45:55.304Z,1755758755.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507954
2025-08-21T06:45:55.557Z,1755758755.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760752
2025-08-21T06:45:55.672Z,1755758755.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:55.674Z,1755758755.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.48 m.
2025-08-21T06:45:55.677Z,1755758755.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.479965 m,
      nav range: 125.975029 m,
      bearing: 131.432085 deg,
      approach rate: -0.526285 m/s,
      LOS rate: 0.039546 deg/s,
      cmd heading: 114.468383 deg,
      new cmd heading: 114.516235 deg.

2025-08-21T06:45:55.678Z,1755758755.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.998685 target range: 133.479965 and range: 134.20 m.
2025-08-21T06:45:55.808Z,1755758755.808 [DAT](INFO): DAT read: Rx Time:06:45:54.6051

2025-08-21T06:45:55.811Z,1755758755.811 [DAT](INFO): Rx dataTimestamp_ set to:1755758755.809290
2025-08-21T06:45:55.813Z,1755758755.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016253
2025-08-21T06:45:55.890Z,1755758755.890 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:45:56.060Z,1755758756.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263949
2025-08-21T06:45:56.103Z,1755758756.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.48 m.
2025-08-21T06:45:56.110Z,1755758756.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.479965 m,
      nav range: 125.751289 m,
      bearing: 131.448919 deg,
      approach rate: -0.526930 m/s,
      LOS rate: 0.039716 deg/s,
      cmd heading: 114.516236 deg,
      new cmd heading: 114.566828 deg.

2025-08-21T06:45:56.111Z,1755758756.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.999568 target range: 133.479965 and range: 134.20 m.
2025-08-21T06:45:56.325Z,1755758756.325 [DAT](INFO): DAT read: 06:45:54.6051 LVL= 27920, 32753, 32754, 32755, AGC= 65, IDX= 409,-0.30,-2.164, 2.236,-2.622,-2.562, PHS= 0.501,-1.440,-0.104, RAW= 132.3,  12.1, CAL= 131.7,  13.2, ROT=  18.3, -13.2

2025-08-21T06:45:56.326Z,1755758756.326 [DAT](INFO): got valid direction response:
 06:45:54.6051 LVL= 27920, 32753, 32754, 32755, AGC= 65, IDX= 409,-0.30,-2.164, 2.236,-2.622,-2.562, PHS= 0.501,-1.440,-0.104, RAW= 132.3,  12.1, CAL= 131.7,  13.2, ROT=  18.3, -13.2

2025-08-21T06:45:56.332Z,1755758756.332 [DAT](INFO): DAT read: Bearing 275.3,  23.2 (Local)

2025-08-21T06:45:56.333Z,1755758756.333 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.3,  23.2 (Local)

2025-08-21T06:45:56.335Z,1755758756.335 [DAT](INFO): DAT read: Range 11 to 50 : 132.1 m  (Round-trip  176.2 ms) speed  0.4 m/s

2025-08-21T06:45:56.360Z,1755758756.360 [DAT](INFO): DAT read: user:1878>

2025-08-21T06:45:56.361Z,1755758756.361 [DAT](INFO): DAT read: Tx time:06:45:55.7248

2025-08-21T06:45:56.361Z,1755758756.361 [DAT](INFO): Ping request sent.
2025-08-21T06:45:56.361Z,1755758756.361 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:45:56.361Z,1755758756.361 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:45:56.362Z,1755758756.362 [DAT](INFO): direction in FSK: [0.924341,0.305696,0.228351]
2025-08-21T06:45:56.363Z,1755758756.363 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:56.363Z,1755758756.363 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:56.381Z,1755758756.381 [DAT](INFO): publishing transmit ping time
2025-08-21T06:45:56.381Z,1755758756.381 [DAT](INFO): publishing direction and range info
2025-08-21T06:45:56.498Z,1755758756.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.100006 m,
      deltaT: 3.532316 s,
      deltaX: -2.099991 m,
      approachRate: -0.594508 m/s,
      rangeRepo size: 4

2025-08-21T06:45:56.509Z,1755758756.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 131.391464 m,
      bearing: 131.340303 deg,
      lat: 36.779366 deg,
      lon: -121.859534 deg,
      deltaT: 3.532316 s,
      deltaX: -2.088501 m,
      approachRate: -0.591255 m/s,
      posRepo size: 4

2025-08-21T06:45:56.509Z,1755758756.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.39 m.
2025-08-21T06:45:56.520Z,1755758756.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.391464 m,
      nav range: 125.456032 m,
      bearing: 131.423143 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.039716 deg/s,
      cmd heading: 114.566827 deg,
      new cmd heading: 114.614338 deg.

2025-08-21T06:45:56.521Z,1755758756.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.000398 target range: 131.391464 and range: 132.10 m.
2025-08-21T06:45:56.878Z,1755758756.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.39 m.
2025-08-21T06:45:56.882Z,1755758756.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.391464 m,
      nav range: 125.235626 m,
      bearing: 131.439583 deg,
      approach rate: -0.579143 m/s,
      LOS rate: 0.043273 deg/s,
      cmd heading: 114.614345 deg,
      new cmd heading: 114.663750 deg.

2025-08-21T06:45:56.883Z,1755758756.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.001260 target range: 131.391464 and range: 132.10 m.
2025-08-21T06:45:57.305Z,1755758757.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.39 m.
2025-08-21T06:45:57.312Z,1755758757.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.391464 m,
      nav range: 125.016632 m,
      bearing: 131.455842 deg,
      approach rate: -0.512868 m/s,
      LOS rate: 0.038144 deg/s,
      cmd heading: 114.663754 deg,
      new cmd heading: 114.712617 deg.

2025-08-21T06:45:57.313Z,1755758757.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.002113 target range: 131.391464 and range: 132.10 m.
2025-08-21T06:45:57.697Z,1755758757.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:57.699Z,1755758757.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.39 m.
2025-08-21T06:45:57.703Z,1755758757.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.391464 m,
      nav range: 124.802902 m,
      bearing: 131.471647 deg,
      approach rate: -0.543339 m/s,
      LOS rate: 0.040249 deg/s,
      cmd heading: 114.712617 deg,
      new cmd heading: 114.760115 deg.

2025-08-21T06:45:57.704Z,1755758757.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.002942 target range: 131.391464 and range: 132.10 m.
2025-08-21T06:45:57.824Z,1755758757.824 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:45:57.824Z,1755758757.824 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:45:57.825Z,1755758757.825 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:45:58.076Z,1755758758.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715173
2025-08-21T06:45:58.140Z,1755758758.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.39 m.
2025-08-21T06:45:58.146Z,1755758758.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.391464 m,
      nav range: 124.560715 m,
      bearing: 131.489210 deg,
      approach rate: -0.549557 m/s,
      LOS rate: 0.039931 deg/s,
      cmd heading: 114.760114 deg,
      new cmd heading: 114.812906 deg.

2025-08-21T06:45:58.163Z,1755758758.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.003863 target range: 131.391464 and range: 132.10 m.
2025-08-21T06:45:58.328Z,1755758758.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.967044
2025-08-21T06:45:58.498Z,1755758758.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.39 m.
2025-08-21T06:45:58.501Z,1755758758.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.391464 m,
      nav range: 124.364792 m,
      bearing: 131.503412 deg,
      approach rate: -0.546736 m/s,
      LOS rate: 0.039692 deg/s,
      cmd heading: 114.812912 deg,
      new cmd heading: 114.855582 deg.

2025-08-21T06:45:58.501Z,1755758758.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.004608 target range: 131.391464 and range: 132.10 m.
2025-08-21T06:45:58.581Z,1755758758.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219892
2025-08-21T06:45:58.832Z,1755758758.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471063
2025-08-21T06:45:58.917Z,1755758758.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.39 m.
2025-08-21T06:45:58.919Z,1755758758.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.391464 m,
      nav range: 124.140053 m,
      bearing: 131.519757 deg,
      approach rate: -0.536432 m/s,
      LOS rate: 0.039086 deg/s,
      cmd heading: 114.855587 deg,
      new cmd heading: 114.904712 deg.

2025-08-21T06:45:58.923Z,1755758758.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.005466 target range: 131.391464 and range: 132.10 m.
2025-08-21T06:45:59.084Z,1755758759.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.723175
2025-08-21T06:45:59.336Z,1755758759.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.975182
2025-08-21T06:45:59.339Z,1755758759.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.39 m.
2025-08-21T06:45:59.342Z,1755758759.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.391464 m,
      nav range: 123.916679 m,
      bearing: 131.534460 deg,
      approach rate: -0.528909 m/s,
      LOS rate: 0.034876 deg/s,
      cmd heading: 114.904710 deg,
      new cmd heading: 114.948897 deg.

2025-08-21T06:45:59.343Z,1755758759.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.006237 target range: 131.391464 and range: 132.10 m.
2025-08-21T06:45:59.589Z,1755758759.589 [DAT](INFO): DAT read: Rx Time:06:45:58.3024

2025-08-21T06:45:59.589Z,1755758759.589 [DAT](INFO): Rx dataTimestamp_ set to:1755758759.589055
2025-08-21T06:45:59.590Z,1755758759.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228766
2025-08-21T06:45:59.717Z,1755758759.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:45:59.719Z,1755758759.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.39 m.
2025-08-21T06:45:59.722Z,1755758759.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.391464 m,
      nav range: 123.714439 m,
      bearing: 131.547770 deg,
      approach rate: -0.532536 m/s,
      LOS rate: 0.035105 deg/s,
      cmd heading: 114.948901 deg,
      new cmd heading: 114.988896 deg.

2025-08-21T06:45:59.723Z,1755758759.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.006935 target range: 131.391464 and range: 132.10 m.
2025-08-21T06:45:59.840Z,1755758759.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479129
2025-08-21T06:46:00.098Z,1755758760.098 [DAT](INFO): DAT read: 06:45:58.3024 LVL= 30544, 32753, 32754, 32755, AGC= 65, IDX= 413, 0.19,-0.600,-2.586,-1.063,-1.094, PHS= 0.597,-1.447,-0.012, RAW= 133.1,   9.5, CAL= 132.9,  10.7, ROT=  17.1, -10.7

2025-08-21T06:46:00.100Z,1755758760.100 [DAT](INFO): got valid direction response:
 06:45:58.3024 LVL= 30544, 32753, 32754, 32755, AGC= 65, IDX= 413, 0.19,-0.600,-2.586,-1.063,-1.094, PHS= 0.597,-1.447,-0.012, RAW= 133.1,   9.5, CAL= 132.9,  10.7, ROT=  17.1, -10.7

2025-08-21T06:46:00.100Z,1755758760.100 [DAT](INFO): DAT read: Bearing 273.8,  23.5 (Local)

2025-08-21T06:46:00.101Z,1755758760.101 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.8,  23.5 (Local)

2025-08-21T06:46:00.102Z,1755758760.102 [DAT](INFO): DAT read: Range 11 to 50 : 130.1 m  (Round-trip  173.5 ms) speed  0.2 m/s

2025-08-21T06:46:00.103Z,1755758760.103 [DAT](INFO): DAT read: user:1879>

2025-08-21T06:46:00.104Z,1755758760.104 [DAT](INFO): DAT read: Tx time:06:45:59.4248

2025-08-21T06:46:00.104Z,1755758760.104 [DAT](INFO): Ping request sent.
2025-08-21T06:46:00.104Z,1755758760.104 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:00.104Z,1755758760.104 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:00.105Z,1755758760.105 [DAT](INFO): direction in FSK: [0.939174,0.288928,0.185667]
2025-08-21T06:46:00.106Z,1755758760.106 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:00.106Z,1755758760.106 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:00.113Z,1755758760.113 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:00.113Z,1755758760.113 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:00.274Z,1755758760.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.100006 m,
      deltaT: 3.775550 s,
      deltaX: -2.000000 m,
      approachRate: -0.529724 m/s,
      rangeRepo size: 4

2025-08-21T06:46:00.280Z,1755758760.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.400299 m,
      bearing: 130.678941 deg,
      lat: 36.779373 deg,
      lon: -121.859534 deg,
      deltaT: 3.775550 s,
      deltaX: -1.991165 m,
      approachRate: -0.527384 m/s,
      posRepo size: 4

2025-08-21T06:46:00.281Z,1755758760.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.40 m.
2025-08-21T06:46:00.288Z,1755758760.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.400299 m,
      nav range: 122.952469 m,
      bearing: 131.306792 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.035105 deg/s,
      cmd heading: 114.988898 deg,
      new cmd heading: 115.047314 deg.

2025-08-21T06:46:00.289Z,1755758760.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.007954 target range: 129.400299 and range: 130.10 m.
2025-08-21T06:46:00.567Z,1755758760.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.40 m.
2025-08-21T06:46:00.570Z,1755758760.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.400299 m,
      nav range: 122.780876 m,
      bearing: 131.318128 deg,
      approach rate: -0.584040 m/s,
      LOS rate: 0.038637 deg/s,
      cmd heading: 115.047310 deg,
      new cmd heading: 115.081365 deg.

2025-08-21T06:46:00.571Z,1755758760.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.008549 target range: 129.400299 and range: 130.10 m.
2025-08-21T06:46:01.040Z,1755758761.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.40 m.
2025-08-21T06:46:01.042Z,1755758761.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.400299 m,
      nav range: 122.571068 m,
      bearing: 131.331986 deg,
      approach rate: -0.448031 m/s,
      LOS rate: 0.029644 deg/s,
      cmd heading: 115.081366 deg,
      new cmd heading: 115.123011 deg.

2025-08-21T06:46:01.048Z,1755758761.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.009276 target range: 129.400299 and range: 130.10 m.
2025-08-21T06:46:01.438Z,1755758761.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.40 m.
2025-08-21T06:46:01.445Z,1755758761.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.400299 m,
      nav range: 122.341438 m,
      bearing: 131.346335 deg,
      approach rate: -0.570826 m/s,
      LOS rate: 0.035737 deg/s,
      cmd heading: 115.123016 deg,
      new cmd heading: 115.166145 deg.

2025-08-21T06:46:01.446Z,1755758761.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.010028 target range: 129.400299 and range: 130.10 m.
2025-08-21T06:46:01.789Z,1755758761.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:01.791Z,1755758761.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.40 m.
2025-08-21T06:46:01.794Z,1755758761.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.400299 m,
      nav range: 122.150841 m,
      bearing: 131.358252 deg,
      approach rate: -0.539473 m/s,
      LOS rate: 0.033781 deg/s,
      cmd heading: 115.166142 deg,
      new cmd heading: 115.201947 deg.

2025-08-21T06:46:01.795Z,1755758761.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.010653 target range: 129.400299 and range: 130.10 m.
2025-08-21T06:46:01.856Z,1755758761.856 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:01.856Z,1755758761.856 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:01.857Z,1755758761.857 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:02.108Z,1755758762.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004015
2025-08-21T06:46:02.337Z,1755758762.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.40 m.
2025-08-21T06:46:02.339Z,1755758762.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.400299 m,
      nav range: 121.862000 m,
      bearing: 131.375729 deg,
      approach rate: -0.529463 m/s,
      LOS rate: 0.032113 deg/s,
      cmd heading: 115.201946 deg,
      new cmd heading: 115.254503 deg.

2025-08-21T06:46:02.340Z,1755758762.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.011570 target range: 129.400299 and range: 130.10 m.
2025-08-21T06:46:02.360Z,1755758762.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255945
2025-08-21T06:46:02.612Z,1755758762.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508001
2025-08-21T06:46:02.864Z,1755758762.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760100
2025-08-21T06:46:02.868Z,1755758762.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.40 m.
2025-08-21T06:46:02.871Z,1755758762.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.400299 m,
      nav range: 121.589867 m,
      bearing: 131.392256 deg,
      approach rate: -0.512061 m/s,
      LOS rate: 0.031167 deg/s,
      cmd heading: 115.254497 deg,
      new cmd heading: 115.304189 deg.

2025-08-21T06:46:02.872Z,1755758762.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.012438 target range: 129.400299 and range: 130.10 m.
2025-08-21T06:46:03.118Z,1755758763.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013132
2025-08-21T06:46:03.368Z,1755758763.368 [DAT](INFO): DAT read: Rx Time:06:46:01.9999

2025-08-21T06:46:03.369Z,1755758763.369 [DAT](INFO): Rx dataTimestamp_ set to:1755758763.368469
2025-08-21T06:46:03.369Z,1755758763.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265117
2025-08-21T06:46:03.414Z,1755758763.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.40 m.
2025-08-21T06:46:03.429Z,1755758763.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.400299 m,
      nav range: 121.306801 m,
      bearing: 131.410893 deg,
      approach rate: -0.518450 m/s,
      LOS rate: 0.034214 deg/s,
      cmd heading: 115.304194 deg,
      new cmd heading: 115.360234 deg.

2025-08-21T06:46:03.430Z,1755758763.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.013416 target range: 129.400299 and range: 130.10 m.
2025-08-21T06:46:03.622Z,1755758763.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517245
2025-08-21T06:46:03.804Z,1755758763.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:03.806Z,1755758763.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.40 m.
2025-08-21T06:46:03.809Z,1755758763.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.400299 m,
      nav range: 121.097282 m,
      bearing: 131.424675 deg,
      approach rate: -0.534871 m/s,
      LOS rate: 0.035246 deg/s,
      cmd heading: 115.360229 deg,
      new cmd heading: 115.401647 deg.

2025-08-21T06:46:03.809Z,1755758763.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.014139 target range: 129.400299 and range: 130.10 m.
2025-08-21T06:46:03.879Z,1755758763.879 [DAT](INFO): DAT read: 06:46:01.9999 LVL= 28048, 31969, 32754, 32755, AGC= 63, IDX= 419, 0.27, 0.959,-1.026, 0.482, 0.450, PHS= 0.612,-1.430,-0.011, RAW= 132.7,   9.2, CAL= 132.5,  10.4, ROT=  17.5, -10.4

2025-08-21T06:46:03.880Z,1755758763.880 [DAT](INFO): got valid direction response:
 06:46:01.9999 LVL= 28048, 31969, 32754, 32755, AGC= 63, IDX= 419, 0.27, 0.959,-1.026, 0.482, 0.450, PHS= 0.612,-1.430,-0.011, RAW= 132.7,   9.2, CAL= 132.5,  10.4, ROT=  17.5, -10.4

2025-08-21T06:46:03.881Z,1755758763.881 [DAT](INFO): DAT read: Bearing 274.5,  25.3 (Local)

2025-08-21T06:46:03.882Z,1755758763.882 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.5,  25.3 (Local)

2025-08-21T06:46:03.883Z,1755758763.883 [DAT](INFO): DAT read: Range 11 to 50 : 128.1 m  (Round-trip  170.9 ms) speed  0.6 m/s

2025-08-21T06:46:03.884Z,1755758763.884 [DAT](INFO): DAT read: user:1880>

2025-08-21T06:46:03.885Z,1755758763.885 [DAT](INFO): DAT read: Tx time:06:46:03.1248

2025-08-21T06:46:03.885Z,1755758763.885 [DAT](INFO): Ping request sent.
2025-08-21T06:46:03.885Z,1755758763.885 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:03.885Z,1755758763.885 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:03.886Z,1755758763.886 [DAT](INFO): direction in FSK: [0.938049,0.295766,0.180519]
2025-08-21T06:46:03.886Z,1755758763.886 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:03.887Z,1755758763.887 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:03.892Z,1755758763.892 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:03.892Z,1755758763.892 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:04.243Z,1755758764.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.100006 m,
      deltaT: 3.780794 s,
      deltaX: -2.000000 m,
      approachRate: -0.528989 m/s,
      rangeRepo size: 4

2025-08-21T06:46:04.245Z,1755758764.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 127.410789 m,
      bearing: 131.323157 deg,
      lat: 36.779373 deg,
      lon: -121.859534 deg,
      deltaT: 3.780794 s,
      deltaX: -1.989510 m,
      approachRate: -0.526215 m/s,
      posRepo size: 4

2025-08-21T06:46:04.246Z,1755758764.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.41 m.
2025-08-21T06:46:04.249Z,1755758764.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.410789 m,
      nav range: 120.869141 m,
      bearing: 131.440576 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.035246 deg/s,
      cmd heading: 115.401647 deg,
      new cmd heading: 115.447834 deg.

2025-08-21T06:46:04.250Z,1755758764.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.014945 target range: 127.410789 and range: 128.10 m.
2025-08-21T06:46:04.574Z,1755758764.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.41 m.
2025-08-21T06:46:04.577Z,1755758764.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.410789 m,
      nav range: 120.690704 m,
      bearing: 131.453019 deg,
      approach rate: -0.538058 m/s,
      LOS rate: 0.037575 deg/s,
      cmd heading: 115.447833 deg,
      new cmd heading: 115.485216 deg.

2025-08-21T06:46:04.578Z,1755758764.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.015597 target range: 127.410789 and range: 128.10 m.
2025-08-21T06:46:05.002Z,1755758765.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.41 m.
2025-08-21T06:46:05.005Z,1755758765.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.410789 m,
      nav range: 120.474167 m,
      bearing: 131.468123 deg,
      approach rate: -0.506150 m/s,
      LOS rate: 0.035370 deg/s,
      cmd heading: 115.485221 deg,
      new cmd heading: 115.530616 deg.

2025-08-21T06:46:05.006Z,1755758765.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.016390 target range: 127.410789 and range: 128.10 m.
2025-08-21T06:46:05.412Z,1755758765.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.41 m.
2025-08-21T06:46:05.415Z,1755758765.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.410789 m,
      nav range: 120.245987 m,
      bearing: 131.484811 deg,
      approach rate: -0.557426 m/s,
      LOS rate: 0.040844 deg/s,
      cmd heading: 115.530614 deg,
      new cmd heading: 115.580772 deg.

2025-08-21T06:46:05.439Z,1755758765.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.017265 target range: 127.410789 and range: 128.10 m.
2025-08-21T06:46:05.787Z,1755758765.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.41 m.
2025-08-21T06:46:05.790Z,1755758765.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.410789 m,
      nav range: 120.046005 m,
      bearing: 131.499441 deg,
      approach rate: -0.533017 m/s,
      LOS rate: 0.039058 deg/s,
      cmd heading: 115.580775 deg,
      new cmd heading: 115.624737 deg.

2025-08-21T06:46:05.790Z,1755758765.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.018032 target range: 127.410789 and range: 128.10 m.
2025-08-21T06:46:06.228Z,1755758766.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:06.230Z,1755758766.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.41 m.
2025-08-21T06:46:06.233Z,1755758766.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.410789 m,
      nav range: 119.807106 m,
      bearing: 131.518640 deg,
      approach rate: -0.538252 m/s,
      LOS rate: 0.043343 deg/s,
      cmd heading: 115.624734 deg,
      new cmd heading: 115.682446 deg.

2025-08-21T06:46:06.234Z,1755758766.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.019040 target range: 127.410789 and range: 128.10 m.
2025-08-21T06:46:06.392Z,1755758766.392 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:06.392Z,1755758766.392 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:06.392Z,1755758766.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:06.612Z,1755758766.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.41 m.
2025-08-21T06:46:06.622Z,1755758766.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.410789 m,
      nav range: 119.606789 m,
      bearing: 131.534747 deg,
      approach rate: -0.526533 m/s,
      LOS rate: 0.042408 deg/s,
      cmd heading: 115.682450 deg,
      new cmd heading: 115.730851 deg.

2025-08-21T06:46:06.628Z,1755758766.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.019884 target range: 127.410789 and range: 128.10 m.
2025-08-21T06:46:06.644Z,1755758766.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759385
2025-08-21T06:46:06.896Z,1755758766.896 [DAT](INFO): DAT read: Rx Time:06:46:05.6971

2025-08-21T06:46:06.897Z,1755758766.897 [DAT](INFO): Rx dataTimestamp_ set to:1755758766.896498
2025-08-21T06:46:06.897Z,1755758766.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012409
2025-08-21T06:46:07.001Z,1755758767.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 127.41 m.
2025-08-21T06:46:07.003Z,1755758767.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 127.410789 m,
      nav range: 119.384346 m,
      bearing: 131.552551 deg,
      approach rate: -0.570655 m/s,
      LOS rate: 0.045760 deg/s,
      cmd heading: 115.730848 deg,
      new cmd heading: 115.784360 deg.

2025-08-21T06:46:07.004Z,1755758767.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.020818 target range: 127.410789 and range: 128.10 m.
2025-08-21T06:46:07.150Z,1755758767.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264672
2025-08-21T06:46:07.421Z,1755758767.421 [DAT](INFO): DAT read: 06:46:05.6971 LVL= 32480, 32753, 32754, 32755, AGC= 64, IDX= 407,-0.15,-3.111, 1.201, 2.695, 2.602, PHS= 0.672,-1.357, 0.049, RAW= 132.6,   7.1, CAL= 132.7,   8.3, ROT=  17.3,  -8.3

2025-08-21T06:46:07.428Z,1755758767.428 [DAT](INFO): got valid direction response:
 06:46:05.6971 LVL= 32480, 32753, 32754, 32755, AGC= 64, IDX= 407,-0.15,-3.111, 1.201, 2.695, 2.602, PHS= 0.672,-1.357, 0.049, RAW= 132.6,   7.1, CAL= 132.7,   8.3, ROT=  17.3,  -8.3

2025-08-21T06:46:07.429Z,1755758767.429 [DAT](INFO): DAT read: Bearing 272.7,  26.2 (Local)

2025-08-21T06:46:07.431Z,1755758767.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.7,  26.2 (Local)

2025-08-21T06:46:07.441Z,1755758767.441 [DAT](INFO): DAT read: Range 11 to 50 : 126.1 m  (Round-trip  168.2 ms) speed  0.6 m/s

2025-08-21T06:46:07.441Z,1755758767.441 [DAT](INFO): DAT read: user:1881>

2025-08-21T06:46:07.442Z,1755758767.442 [DAT](INFO): DAT read: Tx time:06:46:06.8248

2025-08-21T06:46:07.442Z,1755758767.442 [DAT](INFO): Ping request sent.
2025-08-21T06:46:07.442Z,1755758767.442 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:07.443Z,1755758767.443 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:07.468Z,1755758767.468 [DAT](INFO): direction in FSK: [0.944760,0.294260,0.144356]
2025-08-21T06:46:07.468Z,1755758767.468 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:07.469Z,1755758767.469 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:07.493Z,1755758767.493 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:07.493Z,1755758767.493 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:07.578Z,1755758767.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.099998 m,
      deltaT: 3.528706 s,
      deltaX: -2.000008 m,
      approachRate: -0.566782 m/s,
      rangeRepo size: 4

2025-08-21T06:46:07.584Z,1755758767.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 125.421577 m,
      bearing: 131.557829 deg,
      lat: 36.779373 deg,
      lon: -121.859531 deg,
      deltaT: 3.528706 s,
      deltaX: -1.989212 m,
      approachRate: -0.563723 m/s,
      posRepo size: 4

2025-08-21T06:46:07.585Z,1755758767.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.42 m.
2025-08-21T06:46:07.592Z,1755758767.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.421577 m,
      nav range: 119.231964 m,
      bearing: 131.511343 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.045760 deg/s,
      cmd heading: 115.784356 deg,
      new cmd heading: 115.863527 deg.

2025-08-21T06:46:07.593Z,1755758767.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.022200 target range: 125.421577 and range: 126.10 m.
2025-08-21T06:46:07.960Z,1755758767.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.42 m.
2025-08-21T06:46:07.963Z,1755758767.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.421577 m,
      nav range: 119.014603 m,
      bearing: 131.529570 deg,
      approach rate: -0.567537 m/s,
      LOS rate: 0.047679 deg/s,
      cmd heading: 115.863531 deg,
      new cmd heading: 115.918313 deg.

2025-08-21T06:46:07.964Z,1755758767.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.023156 target range: 125.421577 and range: 126.10 m.
2025-08-21T06:46:08.336Z,1755758768.336 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 157.12, 163.24, 176.84,
2025-08-21T06:46:08.349Z,1755758768.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:08.352Z,1755758768.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.42 m.
2025-08-21T06:46:08.354Z,1755758768.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.421577 m,
      nav range: 118.799828 m,
      bearing: 131.547295 deg,
      approach rate: -0.549234 m/s,
      LOS rate: 0.045409 deg/s,
      cmd heading: 115.918310 deg,
      new cmd heading: 115.971580 deg.

2025-08-21T06:46:08.356Z,1755758768.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.024086 target range: 125.421577 and range: 126.10 m.
2025-08-21T06:46:08.408Z,1755758768.408 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:08.409Z,1755758768.409 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:08.409Z,1755758768.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:08.660Z,1755758768.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.217761
2025-08-21T06:46:08.755Z,1755758768.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.42 m.
2025-08-21T06:46:08.758Z,1755758768.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.421577 m,
      nav range: 118.577782 m,
      bearing: 131.565544 deg,
      approach rate: -0.550189 m/s,
      LOS rate: 0.045303 deg/s,
      cmd heading: 115.971585 deg,
      new cmd heading: 116.026436 deg.

2025-08-21T06:46:08.759Z,1755758768.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.025043 target range: 125.421577 and range: 126.10 m.
2025-08-21T06:46:08.914Z,1755758768.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471129
2025-08-21T06:46:09.165Z,1755758769.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722907
2025-08-21T06:46:09.237Z,1755758769.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.42 m.
2025-08-21T06:46:09.240Z,1755758769.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.421577 m,
      nav range: 118.323090 m,
      bearing: 131.584254 deg,
      approach rate: -0.528719 m/s,
      LOS rate: 0.038924 deg/s,
      cmd heading: 116.026432 deg,
      new cmd heading: 116.082682 deg.

2025-08-21T06:46:09.240Z,1755758769.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.026025 target range: 125.421577 and range: 126.10 m.
2025-08-21T06:46:09.416Z,1755758769.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973765
2025-08-21T06:46:09.657Z,1755758769.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.42 m.
2025-08-21T06:46:09.660Z,1755758769.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.421577 m,
      nav range: 118.100899 m,
      bearing: 131.600557 deg,
      approach rate: -0.529046 m/s,
      LOS rate: 0.038890 deg/s,
      cmd heading: 116.082685 deg,
      new cmd heading: 116.131685 deg.

2025-08-21T06:46:09.661Z,1755758769.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.026880 target range: 125.421577 and range: 126.10 m.
2025-08-21T06:46:09.668Z,1755758769.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225816
2025-08-21T06:46:09.920Z,1755758769.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477979
2025-08-21T06:46:10.064Z,1755758770.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.42 m.
2025-08-21T06:46:10.067Z,1755758770.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.421577 m,
      nav range: 117.885437 m,
      bearing: 131.616347 deg,
      approach rate: -0.528615 m/s,
      LOS rate: 0.038810 deg/s,
      cmd heading: 116.131685 deg,
      new cmd heading: 116.179141 deg.

2025-08-21T06:46:10.068Z,1755758770.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.027709 target range: 125.421577 and range: 126.10 m.
2025-08-21T06:46:10.173Z,1755758770.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730955
2025-08-21T06:46:10.424Z,1755758770.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981626
2025-08-21T06:46:10.499Z,1755758770.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:10.501Z,1755758770.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.42 m.
2025-08-21T06:46:10.504Z,1755758770.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.421577 m,
      nav range: 117.656158 m,
      bearing: 131.633740 deg,
      approach rate: -0.524547 m/s,
      LOS rate: 0.039870 deg/s,
      cmd heading: 116.179141 deg,
      new cmd heading: 116.231422 deg.

2025-08-21T06:46:10.505Z,1755758770.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.028621 target range: 125.421577 and range: 126.10 m.
2025-08-21T06:46:10.677Z,1755758770.677 [DAT](INFO): DAT read: Rx Time:06:46:09.3944

2025-08-21T06:46:10.677Z,1755758770.677 [DAT](INFO): Rx dataTimestamp_ set to:1755758770.676726
2025-08-21T06:46:10.678Z,1755758770.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235061
2025-08-21T06:46:10.869Z,1755758770.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.42 m.
2025-08-21T06:46:10.871Z,1755758770.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.421577 m,
      nav range: 117.463181 m,
      bearing: 131.648419 deg,
      approach rate: -0.525582 m/s,
      LOS rate: 0.040045 deg/s,
      cmd heading: 116.231419 deg,
      new cmd heading: 116.275529 deg.

2025-08-21T06:46:10.872Z,1755758770.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.029391 target range: 125.421577 and range: 126.10 m.
2025-08-21T06:46:10.929Z,1755758770.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486623
2025-08-21T06:46:11.188Z,1755758771.188 [DAT](INFO): DAT read: 06:46:09.3944 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411, 0.38, 1.157,-0.780, 0.736, 0.623, PHS= 0.635,-1.359, 0.068, RAW= 134.0,   7.4, CAL= 134.0,   8.5, ROT=  16.0,  -8.5

2025-08-21T06:46:11.190Z,1755758771.190 [DAT](INFO): got valid direction response:
 06:46:09.3944 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 411, 0.38, 1.157,-0.780, 0.736, 0.623, PHS= 0.635,-1.359, 0.068, RAW= 134.0,   7.4, CAL= 134.0,   8.5, ROT=  16.0,  -8.5

2025-08-21T06:46:11.190Z,1755758771.190 [DAT](INFO): DAT read: Bearing 273.0,  25.9 (Local)

2025-08-21T06:46:11.191Z,1755758771.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.0,  25.9 (Local)

2025-08-21T06:46:11.193Z,1755758771.193 [DAT](INFO): DAT read: Range 11 to 50 : 124.1 m  (Round-trip  165.5 ms) speed  0.4 m/s

2025-08-21T06:46:11.194Z,1755758771.194 [DAT](INFO): DAT read: user:1882>

2025-08-21T06:46:11.194Z,1755758771.194 [DAT](INFO): DAT read: Tx time:06:46:10.5248

2025-08-21T06:46:11.195Z,1755758771.195 [DAT](INFO): Ping request sent.
2025-08-21T06:46:11.195Z,1755758771.195 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:11.195Z,1755758771.195 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:11.196Z,1755758771.196 [DAT](INFO): direction in FSK: [0.950703,0.272610,0.147809]
2025-08-21T06:46:11.196Z,1755758771.196 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:11.197Z,1755758771.197 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:11.200Z,1755758771.200 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:11.200Z,1755758771.200 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:11.344Z,1755758771.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 124.099998 m,
      deltaT: 3.779158 s,
      deltaX: -2.000000 m,
      approachRate: -0.529218 m/s,
      rangeRepo size: 4

2025-08-21T06:46:11.346Z,1755758771.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 123.431900 m,
      bearing: 130.692422 deg,
      lat: 36.779374 deg,
      lon: -121.859528 deg,
      deltaT: 3.779158 s,
      deltaX: -1.989677 m,
      approachRate: -0.526487 m/s,
      posRepo size: 4

2025-08-21T06:46:11.346Z,1755758771.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.43 m.
2025-08-21T06:46:11.353Z,1755758771.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.431900 m,
      nav range: 117.343613 m,
      bearing: 131.519977 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.040045 deg/s,
      cmd heading: 116.275529 deg,
      new cmd heading: 116.332002 deg.

2025-08-21T06:46:11.354Z,1755758771.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.030376 target range: 123.431900 and range: 124.10 m.
2025-08-21T06:46:11.687Z,1755758771.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.43 m.
2025-08-21T06:46:11.706Z,1755758771.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.431900 m,
      nav range: 117.152122 m,
      bearing: 131.534306 deg,
      approach rate: -0.549949 m/s,
      LOS rate: 0.041218 deg/s,
      cmd heading: 116.332001 deg,
      new cmd heading: 116.375056 deg.

2025-08-21T06:46:11.707Z,1755758771.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.031128 target range: 123.431900 and range: 124.10 m.
2025-08-21T06:46:12.096Z,1755758772.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.43 m.
2025-08-21T06:46:12.103Z,1755758772.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.431900 m,
      nav range: 116.939339 m,
      bearing: 131.550254 deg,
      approach rate: -0.522416 m/s,
      LOS rate: 0.039226 deg/s,
      cmd heading: 116.375058 deg,
      new cmd heading: 116.422989 deg.

2025-08-21T06:46:12.106Z,1755758772.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.031965 target range: 123.431900 and range: 124.10 m.
2025-08-21T06:46:12.526Z,1755758772.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:12.528Z,1755758772.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.43 m.
2025-08-21T06:46:12.531Z,1755758772.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.431900 m,
      nav range: 116.702293 m,
      bearing: 131.567062 deg,
      approach rate: -0.546250 m/s,
      LOS rate: 0.038812 deg/s,
      cmd heading: 116.422992 deg,
      new cmd heading: 116.473519 deg.

2025-08-21T06:46:12.532Z,1755758772.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.032846 target range: 123.431900 and range: 124.10 m.
2025-08-21T06:46:12.692Z,1755758772.692 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:12.692Z,1755758772.692 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:12.692Z,1755758772.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:12.944Z,1755758772.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749485
2025-08-21T06:46:12.973Z,1755758772.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.43 m.
2025-08-21T06:46:12.979Z,1755758772.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.431900 m,
      nav range: 116.460358 m,
      bearing: 131.584267 deg,
      approach rate: -0.543200 m/s,
      LOS rate: 0.038708 deg/s,
      cmd heading: 116.473522 deg,
      new cmd heading: 116.525243 deg.

2025-08-21T06:46:12.980Z,1755758772.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.033749 target range: 123.431900 and range: 124.10 m.
2025-08-21T06:46:13.199Z,1755758773.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003825
2025-08-21T06:46:13.404Z,1755758773.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.43 m.
2025-08-21T06:46:13.407Z,1755758773.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.431900 m,
      nav range: 116.236366 m,
      bearing: 131.598928 deg,
      approach rate: -0.520126 m/s,
      LOS rate: 0.034110 deg/s,
      cmd heading: 116.525240 deg,
      new cmd heading: 116.569309 deg.

2025-08-21T06:46:13.408Z,1755758773.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.034518 target range: 123.431900 and range: 124.10 m.
2025-08-21T06:46:13.448Z,1755758773.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253566
2025-08-21T06:46:13.700Z,1755758773.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505511
2025-08-21T06:46:13.842Z,1755758773.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.43 m.
2025-08-21T06:46:13.846Z,1755758773.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.431900 m,
      nav range: 116.009392 m,
      bearing: 131.613795 deg,
      approach rate: -0.517806 m/s,
      LOS rate: 0.033984 deg/s,
      cmd heading: 116.569309 deg,
      new cmd heading: 116.613997 deg.

2025-08-21T06:46:13.847Z,1755758773.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.035298 target range: 123.431900 and range: 124.10 m.
2025-08-21T06:46:13.953Z,1755758773.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758549
2025-08-21T06:46:14.215Z,1755758774.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011716
2025-08-21T06:46:14.303Z,1755758774.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.43 m.
2025-08-21T06:46:14.306Z,1755758774.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.431900 m,
      nav range: 115.775047 m,
      bearing: 131.629362 deg,
      approach rate: -0.509026 m/s,
      LOS rate: 0.033882 deg/s,
      cmd heading: 116.613992 deg,
      new cmd heading: 116.660787 deg.

2025-08-21T06:46:14.307Z,1755758774.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.036115 target range: 123.431900 and range: 124.10 m.
2025-08-21T06:46:14.456Z,1755758774.456 [DAT](INFO): DAT read: Rx Time:06:46:13.0918

2025-08-21T06:46:14.457Z,1755758774.457 [DAT](INFO): Rx dataTimestamp_ set to:1755758774.456676
2025-08-21T06:46:14.457Z,1755758774.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262817
2025-08-21T06:46:14.662Z,1755758774.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:14.664Z,1755758774.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.43 m.
2025-08-21T06:46:14.667Z,1755758774.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 123.431900 m,
      nav range: 115.570374 m,
      bearing: 131.643011 deg,
      approach rate: -0.566954 m/s,
      LOS rate: 0.037874 deg/s,
      cmd heading: 116.660792 deg,
      new cmd heading: 116.701810 deg.

2025-08-21T06:46:14.668Z,1755758774.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.036831 target range: 123.431900 and range: 124.10 m.
2025-08-21T06:46:14.709Z,1755758774.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514104
2025-08-21T06:46:14.966Z,1755758774.966 [DAT](INFO): DAT read: 06:46:13.0918 LVL= 28528, 32753, 32754, 32755, AGC= 63, IDX= 417, 0.39,-0.334,-2.284,-0.757,-0.888, PHS= 0.656,-1.351, 0.087, RAW= 134.1,   6.8, CAL= 134.1,   7.9, ROT=  15.9,  -7.9

2025-08-21T06:46:14.968Z,1755758774.968 [DAT](INFO): got valid direction response:
 06:46:13.0918 LVL= 28528, 32753, 32754, 32755, AGC= 63, IDX= 417, 0.39,-0.334,-2.284,-0.757,-0.888, PHS= 0.656,-1.351, 0.087, RAW= 134.1,   6.8, CAL= 134.1,   7.9, ROT=  15.9,  -7.9

2025-08-21T06:46:14.969Z,1755758774.969 [DAT](INFO): DAT read: Bearing 272.8,  26.7 (Local)

2025-08-21T06:46:14.969Z,1755758774.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.8,  26.7 (Local)

2025-08-21T06:46:14.970Z,1755758774.970 [DAT](INFO): DAT read: Range 11 to 50 : 122.1 m  (Round-trip  162.9 ms) speed  0.4 m/s

2025-08-21T06:46:14.971Z,1755758774.971 [DAT](INFO): DAT read: user:1883>

2025-08-21T06:46:14.972Z,1755758774.972 [DAT](INFO): DAT read: Tx time:06:46:14.1748

2025-08-21T06:46:14.972Z,1755758774.972 [DAT](INFO): Ping request sent.
2025-08-21T06:46:14.972Z,1755758774.972 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:14.973Z,1755758774.973 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:14.974Z,1755758774.974 [DAT](INFO): direction in FSK: [0.952614,0.271359,0.137445]
2025-08-21T06:46:14.974Z,1755758774.974 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:14.974Z,1755758774.974 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:14.977Z,1755758774.977 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:14.977Z,1755758774.977 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:15.138Z,1755758775.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 122.099998 m,
      deltaT: 3.778920 s,
      deltaX: -2.000000 m,
      approachRate: -0.529252 m/s,
      rangeRepo size: 4

2025-08-21T06:46:15.145Z,1755758775.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 121.440613 m,
      bearing: 130.849074 deg,
      lat: 36.779378 deg,
      lon: -121.859519 deg,
      deltaT: 3.778920 s,
      deltaX: -1.991287 m,
      approachRate: -0.526946 m/s,
      posRepo size: 4

2025-08-21T06:46:15.146Z,1755758775.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-08-21T06:46:15.168Z,1755758775.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.440613 m,
      nav range: 115.642181 m,
      bearing: 131.203936 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037874 deg/s,
      cmd heading: 116.701814 deg,
      new cmd heading: 116.755614 deg.

2025-08-21T06:46:15.169Z,1755758775.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.037770 target range: 121.440613 and range: 122.10 m.
2025-08-21T06:46:15.626Z,1755758775.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-08-21T06:46:15.629Z,1755758775.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.440613 m,
      nav range: 115.363831 m,
      bearing: 131.223201 deg,
      approach rate: -0.570045 m/s,
      LOS rate: 0.039549 deg/s,
      cmd heading: 116.755609 deg,
      new cmd heading: 116.813544 deg.

2025-08-21T06:46:15.630Z,1755758775.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.038781 target range: 121.440613 and range: 122.10 m.
2025-08-21T06:46:16.002Z,1755758776.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-08-21T06:46:16.009Z,1755758776.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.440613 m,
      nav range: 115.175255 m,
      bearing: 131.236245 deg,
      approach rate: -0.510600 m/s,
      LOS rate: 0.035375 deg/s,
      cmd heading: 116.813543 deg,
      new cmd heading: 116.852737 deg.

2025-08-21T06:46:16.010Z,1755758776.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.039465 target range: 121.440613 and range: 122.10 m.
2025-08-21T06:46:16.420Z,1755758776.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-08-21T06:46:16.422Z,1755758776.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.440613 m,
      nav range: 114.934357 m,
      bearing: 131.252672 deg,
      approach rate: -0.566971 m/s,
      LOS rate: 0.038744 deg/s,
      cmd heading: 116.852734 deg,
      new cmd heading: 116.902119 deg.

2025-08-21T06:46:16.424Z,1755758776.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.040327 target range: 121.440613 and range: 122.10 m.
2025-08-21T06:46:16.767Z,1755758776.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:16.774Z,1755758776.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-08-21T06:46:16.793Z,1755758776.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.440613 m,
      nav range: 114.736061 m,
      bearing: 131.266139 deg,
      approach rate: -0.560491 m/s,
      LOS rate: 0.038130 deg/s,
      cmd heading: 116.902116 deg,
      new cmd heading: 116.942587 deg.

2025-08-21T06:46:16.794Z,1755758776.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.041033 target range: 121.440613 and range: 122.10 m.
2025-08-21T06:46:16.976Z,1755758776.976 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:16.976Z,1755758776.976 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:16.976Z,1755758776.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:17.231Z,1755758777.231 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258303
2025-08-21T06:46:17.340Z,1755758777.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-08-21T06:46:17.342Z,1755758777.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.440613 m,
      nav range: 114.427849 m,
      bearing: 131.288552 deg,
      approach rate: -0.544741 m/s,
      LOS rate: 0.039720 deg/s,
      cmd heading: 116.942592 deg,
      new cmd heading: 117.010013 deg.

2025-08-21T06:46:17.343Z,1755758777.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.042210 target range: 121.440613 and range: 122.10 m.
2025-08-21T06:46:17.480Z,1755758777.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508122
2025-08-21T06:46:17.672Z,1755758777.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-08-21T06:46:17.675Z,1755758777.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.440613 m,
      nav range: 114.237373 m,
      bearing: 131.302369 deg,
      approach rate: -0.572471 m/s,
      LOS rate: 0.041597 deg/s,
      cmd heading: 117.010020 deg,
      new cmd heading: 117.051540 deg.

2025-08-21T06:46:17.676Z,1755758777.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.042935 target range: 121.440613 and range: 122.10 m.
2025-08-21T06:46:17.733Z,1755758777.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760514
2025-08-21T06:46:17.984Z,1755758777.984 [DAT](INFO): DAT read: Rx Time:06:46:16.7391

2025-08-21T06:46:17.985Z,1755758777.985 [DAT](INFO): Rx dataTimestamp_ set to:1755758777.984515
2025-08-21T06:46:17.985Z,1755758777.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013066
2025-08-21T06:46:18.126Z,1755758778.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.44 m.
2025-08-21T06:46:18.129Z,1755758778.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 121.440613 m,
      nav range: 113.987511 m,
      bearing: 131.320413 deg,
      approach rate: -0.550978 m/s,
      LOS rate: 0.039877 deg/s,
      cmd heading: 117.051534 deg,
      new cmd heading: 117.105784 deg.

2025-08-21T06:46:18.130Z,1755758778.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.043881 target range: 121.440613 and range: 122.10 m.
2025-08-21T06:46:18.241Z,1755758778.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268077
2025-08-21T06:46:18.494Z,1755758778.494 [DAT](INFO): DAT read: 06:46:16.7390 LVL= 29088, 32753, 32754, 32755, AGC= 66, IDX= 421,-0.10, 1.296,-0.585, 0.951, 0.805, PHS= 0.593,-1.345, 0.102, RAW= 135.9,   7.5, CAL= 135.8,   8.5, ROT=  14.2,  -8.5

2025-08-21T06:46:18.495Z,1755758778.495 [DAT](INFO): got valid direction response:
 06:46:16.7390 LVL= 29088, 32753, 32754, 32755, AGC= 66, IDX= 421,-0.10, 1.296,-0.585, 0.951, 0.805, PHS= 0.593,-1.345, 0.102, RAW= 135.9,   7.5, CAL= 135.8,   8.5, ROT=  14.2,  -8.5

2025-08-21T06:46:18.496Z,1755758778.496 [DAT](INFO): DAT read: Bearing 273.8,  25.3 (Local)

2025-08-21T06:46:18.496Z,1755758778.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.8,  25.3 (Local)

2025-08-21T06:46:18.498Z,1755758778.498 [DAT](INFO): DAT read: Range 11 to 50 : 120.1 m  (Round-trip  160.2 ms) speed  0.4 m/s

2025-08-21T06:46:18.499Z,1755758778.499 [DAT](INFO): DAT read: user:1884>

2025-08-21T06:46:18.504Z,1755758778.504 [DAT](INFO): DAT read: Tx time:06:46:17.8247

2025-08-21T06:46:18.504Z,1755758778.504 [DAT](INFO): Ping request sent.
2025-08-21T06:46:18.504Z,1755758778.504 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:18.504Z,1755758778.504 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:18.505Z,1755758778.505 [DAT](INFO): direction in FSK: [0.958797,0.242613,0.147809]
2025-08-21T06:46:18.506Z,1755758778.506 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:18.506Z,1755758778.506 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:18.509Z,1755758778.509 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:18.509Z,1755758778.509 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:18.666Z,1755758778.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 120.099998 m,
      deltaT: 3.528088 s,
      deltaX: -2.000000 m,
      approachRate: -0.566879 m/s,
      rangeRepo size: 4

2025-08-21T06:46:18.673Z,1755758778.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.447083 m,
      bearing: 129.439706 deg,
      lat: 36.779387 deg,
      lon: -121.859518 deg,
      deltaT: 3.528088 s,
      deltaX: -1.993530 m,
      approachRate: -0.565046 m/s,
      posRepo size: 4

2025-08-21T06:46:18.673Z,1755758778.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.45 m.
2025-08-21T06:46:18.684Z,1755758778.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.447083 m,
      nav range: 113.122337 m,
      bearing: 130.978712 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.039877 deg/s,
      cmd heading: 117.105779 deg,
      new cmd heading: 117.170381 deg.

2025-08-21T06:46:18.685Z,1755758778.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.045009 target range: 119.447083 and range: 120.10 m.
2025-08-21T06:46:19.017Z,1755758779.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:19.020Z,1755758779.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.45 m.
2025-08-21T06:46:19.022Z,1755758779.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.447083 m,
      nav range: 112.927269 m,
      bearing: 130.990793 deg,
      approach rate: -0.551438 m/s,
      LOS rate: 0.034212 deg/s,
      cmd heading: 117.170379 deg,
      new cmd heading: 117.206686 deg.

2025-08-21T06:46:19.028Z,1755758779.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.045643 target range: 119.447083 and range: 120.10 m.
2025-08-21T06:46:19.247Z,1755758779.247 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:19.247Z,1755758779.247 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:19.248Z,1755758779.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:19.425Z,1755758779.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.45 m.
2025-08-21T06:46:19.444Z,1755758779.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.447083 m,
      nav range: 112.702118 m,
      bearing: 131.006197 deg,
      approach rate: -0.554779 m/s,
      LOS rate: 0.038032 deg/s,
      cmd heading: 117.206688 deg,
      new cmd heading: 117.252992 deg.

2025-08-21T06:46:19.445Z,1755758779.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046451 target range: 119.447083 and range: 120.10 m.
2025-08-21T06:46:19.497Z,1755758779.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993153
2025-08-21T06:46:19.748Z,1755758779.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.244228
2025-08-21T06:46:19.818Z,1755758779.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.45 m.
2025-08-21T06:46:19.821Z,1755758779.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.447083 m,
      nav range: 112.492401 m,
      bearing: 131.020563 deg,
      approach rate: -0.533504 m/s,
      LOS rate: 0.036613 deg/s,
      cmd heading: 117.252997 deg,
      new cmd heading: 117.296174 deg.

2025-08-21T06:46:19.822Z,1755758779.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047204 target range: 119.447083 and range: 120.10 m.
2025-08-21T06:46:20.000Z,1755758780.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496144
2025-08-21T06:46:20.231Z,1755758780.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.45 m.
2025-08-21T06:46:20.234Z,1755758780.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.447083 m,
      nav range: 112.274513 m,
      bearing: 131.035546 deg,
      approach rate: -0.527651 m/s,
      LOS rate: 0.036354 deg/s,
      cmd heading: 117.296177 deg,
      new cmd heading: 117.341213 deg.

2025-08-21T06:46:20.237Z,1755758780.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047991 target range: 119.447083 and range: 120.10 m.
2025-08-21T06:46:20.255Z,1755758780.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750603
2025-08-21T06:46:20.505Z,1755758780.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000997
2025-08-21T06:46:20.657Z,1755758780.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.45 m.
2025-08-21T06:46:20.659Z,1755758780.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.447083 m,
      nav range: 112.043732 m,
      bearing: 131.051583 deg,
      approach rate: -0.542484 m/s,
      LOS rate: 0.037776 deg/s,
      cmd heading: 117.341216 deg,
      new cmd heading: 117.389428 deg.

2025-08-21T06:46:20.660Z,1755758780.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048832 target range: 119.447083 and range: 120.10 m.
2025-08-21T06:46:20.757Z,1755758780.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252703
2025-08-21T06:46:21.008Z,1755758781.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504205
2025-08-21T06:46:21.029Z,1755758781.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:21.031Z,1755758781.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.45 m.
2025-08-21T06:46:21.034Z,1755758781.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.447083 m,
      nav range: 111.842903 m,
      bearing: 131.065434 deg,
      approach rate: -0.536312 m/s,
      LOS rate: 0.037055 deg/s,
      cmd heading: 117.389423 deg,
      new cmd heading: 117.431050 deg.

2025-08-21T06:46:21.035Z,1755758781.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049558 target range: 119.447083 and range: 120.10 m.
2025-08-21T06:46:21.260Z,1755758781.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756087
2025-08-21T06:46:21.468Z,1755758781.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.45 m.
2025-08-21T06:46:21.471Z,1755758781.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.447083 m,
      nav range: 111.615936 m,
      bearing: 131.081707 deg,
      approach rate: -0.519508 m/s,
      LOS rate: 0.037322 deg/s,
      cmd heading: 117.431046 deg,
      new cmd heading: 117.479963 deg.

2025-08-21T06:46:21.476Z,1755758781.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050412 target range: 119.447083 and range: 120.10 m.
2025-08-21T06:46:21.512Z,1755758781.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008418
2025-08-21T06:46:21.765Z,1755758781.765 [DAT](INFO): DAT read: Rx Time:06:46:20.3863

2025-08-21T06:46:21.765Z,1755758781.765 [DAT](INFO): Rx dataTimestamp_ set to:1755758781.764865
2025-08-21T06:46:21.766Z,1755758781.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261652
2025-08-21T06:46:21.856Z,1755758781.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.45 m.
2025-08-21T06:46:21.863Z,1755758781.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.447083 m,
      nav range: 111.407433 m,
      bearing: 131.096580 deg,
      approach rate: -0.536840 m/s,
      LOS rate: 0.038366 deg/s,
      cmd heading: 117.479964 deg,
      new cmd heading: 117.524667 deg.

2025-08-21T06:46:21.864Z,1755758781.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051192 target range: 119.447083 and range: 120.10 m.
2025-08-21T06:46:22.017Z,1755758782.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513054
2025-08-21T06:46:22.260Z,1755758782.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.45 m.
2025-08-21T06:46:22.263Z,1755758782.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.447083 m,
      nav range: 111.193985 m,
      bearing: 131.111737 deg,
      approach rate: -0.528934 m/s,
      LOS rate: 0.037633 deg/s,
      cmd heading: 117.524661 deg,
      new cmd heading: 117.570220 deg.

2025-08-21T06:46:22.286Z,1755758782.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051987 target range: 119.447083 and range: 120.10 m.
2025-08-21T06:46:22.315Z,1755758782.315 [DAT](INFO): DAT read: 06:46:20.3863 LVL= 28272, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.32, 0.810,-1.081, 0.411, 0.245, PHS= 0.667,-1.281, 0.123, RAW= 134.3,   5.7, CAL= 134.4,   6.8, ROT=  15.6,  -6.8

2025-08-21T06:46:22.335Z,1755758782.335 [DAT](INFO): got valid direction response:
 06:46:20.3863 LVL= 28272, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.32, 0.810,-1.081, 0.411, 0.245, PHS= 0.667,-1.281, 0.123, RAW= 134.3,   5.7, CAL= 134.4,   6.8, ROT=  15.6,  -6.8

2025-08-21T06:46:22.336Z,1755758782.336 [DAT](INFO): DAT read: Bearing 272.9,  27.0 (Local)

2025-08-21T06:46:22.337Z,1755758782.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.9,  27.0 (Local)

2025-08-21T06:46:22.338Z,1755758782.338 [DAT](INFO): DAT read: Range 11 to 50 : 118.1 m  (Round-trip  157.5 ms) speed  0.2 m/s

2025-08-21T06:46:22.339Z,1755758782.339 [DAT](INFO): DAT read: user:1885>

2025-08-21T06:46:22.348Z,1755758782.348 [DAT](INFO): DAT read: Tx time:06:46:21.4747

2025-08-21T06:46:22.348Z,1755758782.348 [DAT](INFO): Ping request sent.
2025-08-21T06:46:22.348Z,1755758782.348 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:22.349Z,1755758782.349 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:22.349Z,1755758782.349 [DAT](INFO): direction in FSK: [0.956387,0.267028,0.118404]
2025-08-21T06:46:22.350Z,1755758782.350 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:22.350Z,1755758782.350 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:22.373Z,1755758782.373 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:22.374Z,1755758782.374 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:22.729Z,1755758782.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 118.099998 m,
      deltaT: 3.781689 s,
      deltaX: -2.000000 m,
      approachRate: -0.528864 m/s,
      rangeRepo size: 4

2025-08-21T06:46:22.731Z,1755758782.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 117.457741 m,
      bearing: 131.534972 deg,
      lat: 36.779387 deg,
      lon: -121.859518 deg,
      deltaT: 3.781689 s,
      deltaX: -1.989342 m,
      approachRate: -0.526046 m/s,
      posRepo size: 4

2025-08-21T06:46:22.732Z,1755758782.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.46 m.
2025-08-21T06:46:22.734Z,1755758782.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.457741 m,
      nav range: 110.940926 m,
      bearing: 131.129448 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.037633 deg/s,
      cmd heading: 117.570218 deg,
      new cmd heading: 117.623072 deg.

2025-08-21T06:46:22.736Z,1755758782.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052910 target range: 117.457741 and range: 118.10 m.
2025-08-21T06:46:23.134Z,1755758783.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:23.141Z,1755758783.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.46 m.
2025-08-21T06:46:23.150Z,1755758783.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.457741 m,
      nav range: 110.727180 m,
      bearing: 131.144171 deg,
      approach rate: -0.518019 m/s,
      LOS rate: 0.035752 deg/s,
      cmd heading: 117.623070 deg,
      new cmd heading: 117.667326 deg.

2025-08-21T06:46:23.151Z,1755758783.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053682 target range: 117.457741 and range: 118.10 m.
2025-08-21T06:46:23.276Z,1755758783.276 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:23.276Z,1755758783.276 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:23.276Z,1755758783.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:23.499Z,1755758783.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.46 m.
2025-08-21T06:46:23.502Z,1755758783.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.457741 m,
      nav range: 110.534088 m,
      bearing: 131.156115 deg,
      approach rate: -0.539376 m/s,
      LOS rate: 0.033422 deg/s,
      cmd heading: 117.667330 deg,
      new cmd heading: 117.703224 deg.

2025-08-21T06:46:23.503Z,1755758783.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054309 target range: 117.457741 and range: 118.10 m.
2025-08-21T06:46:23.528Z,1755758783.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.180139
2025-08-21T06:46:23.780Z,1755758783.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.431998
2025-08-21T06:46:23.881Z,1755758783.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.46 m.
2025-08-21T06:46:23.884Z,1755758783.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.457741 m,
      nav range: 110.333298 m,
      bearing: 131.168479 deg,
      approach rate: -0.525627 m/s,
      LOS rate: 0.032424 deg/s,
      cmd heading: 117.703229 deg,
      new cmd heading: 117.740388 deg.

2025-08-21T06:46:23.884Z,1755758783.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054957 target range: 117.457741 and range: 118.10 m.
2025-08-21T06:46:24.032Z,1755758784.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.683942
2025-08-21T06:46:24.286Z,1755758784.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.937704
2025-08-21T06:46:24.305Z,1755758784.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.46 m.
2025-08-21T06:46:24.329Z,1755758784.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.457741 m,
      nav range: 110.123131 m,
      bearing: 131.181396 deg,
      approach rate: -0.497715 m/s,
      LOS rate: 0.030648 deg/s,
      cmd heading: 117.740386 deg,
      new cmd heading: 117.779210 deg.

2025-08-21T06:46:24.337Z,1755758784.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055635 target range: 117.457741 and range: 118.10 m.
2025-08-21T06:46:24.536Z,1755758784.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.188009
2025-08-21T06:46:24.730Z,1755758784.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.46 m.
2025-08-21T06:46:24.737Z,1755758784.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.457741 m,
      nav range: 109.891327 m,
      bearing: 131.196443 deg,
      approach rate: -0.542906 m/s,
      LOS rate: 0.035317 deg/s,
      cmd heading: 117.779208 deg,
      new cmd heading: 117.824446 deg.

2025-08-21T06:46:24.738Z,1755758784.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056425 target range: 117.457741 and range: 118.10 m.
2025-08-21T06:46:24.788Z,1755758784.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.439959
2025-08-21T06:46:25.040Z,1755758785.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.692012
2025-08-21T06:46:25.133Z,1755758785.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.46 m.
2025-08-21T06:46:25.145Z,1755758785.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.457741 m,
      nav range: 109.662552 m,
      bearing: 131.211223 deg,
      approach rate: -0.567353 m/s,
      LOS rate: 0.036728 deg/s,
      cmd heading: 117.824451 deg,
      new cmd heading: 117.868882 deg.

2025-08-21T06:46:25.146Z,1755758785.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057200 target range: 117.457741 and range: 118.10 m.
2025-08-21T06:46:25.292Z,1755758785.292 [DAT](INFO): DAT read: Rx Time:06:46:24.0338

2025-08-21T06:46:25.293Z,1755758785.293 [DAT](INFO): Rx dataTimestamp_ set to:1755758785.292449
2025-08-21T06:46:25.293Z,1755758785.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.945046
2025-08-21T06:46:25.520Z,1755758785.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:25.522Z,1755758785.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.46 m.
2025-08-21T06:46:25.525Z,1755758785.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 117.457741 m,
      nav range: 109.453011 m,
      bearing: 131.222206 deg,
      approach rate: -0.539103 m/s,
      LOS rate: 0.028311 deg/s,
      cmd heading: 117.868875 deg,
      new cmd heading: 117.901887 deg.

2025-08-21T06:46:25.526Z,1755758785.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057776 target range: 117.457741 and range: 118.10 m.
2025-08-21T06:46:25.544Z,1755758785.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.196025
2025-08-21T06:46:25.802Z,1755758785.802 [DAT](INFO): DAT read: 06:46:24.0338 LVL= 29776, 32753, 32754, 32755, AGC= 64, IDX= 416, 0.24,-2.578, 1.856,-2.916,-3.081, PHS= 0.605,-1.301, 0.121, RAW= 135.9,   6.8, CAL= 135.8,   7.8, ROT=  14.2,  -7.8

2025-08-21T06:46:25.803Z,1755758785.803 [DAT](INFO): got valid direction response:
 06:46:24.0338 LVL= 29776, 32753, 32754, 32755, AGC= 64, IDX= 416, 0.24,-2.578, 1.856,-2.916,-3.081, PHS= 0.605,-1.301, 0.121, RAW= 135.9,   6.8, CAL= 135.8,   7.8, ROT=  14.2,  -7.8

2025-08-21T06:46:25.804Z,1755758785.804 [DAT](INFO): DAT read: Bearing 275.4,  25.9 (Local)

2025-08-21T06:46:25.804Z,1755758785.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.4,  25.9 (Local)

2025-08-21T06:46:25.806Z,1755758785.806 [DAT](INFO): DAT read: Range 11 to 50 : 116.2 m  (Round-trip  155.0 ms) speed  0.4 m/s

2025-08-21T06:46:25.806Z,1755758785.806 [DAT](INFO): DAT read: user:1886>

2025-08-21T06:46:25.807Z,1755758785.807 [DAT](INFO): DAT read: Tx time:06:46:25.1247

2025-08-21T06:46:25.807Z,1755758785.807 [DAT](INFO): Ping request sent.
2025-08-21T06:46:25.808Z,1755758785.808 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:25.808Z,1755758785.808 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:25.809Z,1755758785.809 [DAT](INFO): direction in FSK: [0.960476,0.243038,0.135716]
2025-08-21T06:46:25.809Z,1755758785.809 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:25.809Z,1755758785.809 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:25.813Z,1755758785.813 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:25.813Z,1755758785.813 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:25.965Z,1755758785.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.199997 m,
      deltaT: 3.526259 s,
      deltaX: -1.900002 m,
      approachRate: -0.538815 m/s,
      rangeRepo size: 4

2025-08-21T06:46:25.971Z,1755758785.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 115.567657 m,
      bearing: 130.721463 deg,
      lat: 36.779387 deg,
      lon: -121.859518 deg,
      deltaT: 3.526259 s,
      deltaX: -1.890083 m,
      approachRate: -0.536002 m/s,
      posRepo size: 4

2025-08-21T06:46:25.972Z,1755758785.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.57 m.
2025-08-21T06:46:25.974Z,1755758785.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.567657 m,
      nav range: 109.216660 m,
      bearing: 131.199411 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.028311 deg/s,
      cmd heading: 117.901892 deg,
      new cmd heading: 117.939472 deg.

2025-08-21T06:46:25.980Z,1755758785.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058432 target range: 115.567657 and range: 116.20 m.
2025-08-21T06:46:26.013Z,1755758786.013 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:46:26.318Z,1755758786.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.57 m.
2025-08-21T06:46:26.321Z,1755758786.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.567657 m,
      nav range: 108.999191 m,
      bearing: 131.210435 deg,
      approach rate: -0.615395 m/s,
      LOS rate: 0.031257 deg/s,
      cmd heading: 117.939472 deg,
      new cmd heading: 117.972609 deg.

2025-08-21T06:46:26.322Z,1755758786.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059011 target range: 115.567657 and range: 116.20 m.
2025-08-21T06:46:26.733Z,1755758786.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.57 m.
2025-08-21T06:46:26.736Z,1755758786.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.567657 m,
      nav range: 108.769852 m,
      bearing: 131.222639 deg,
      approach rate: -0.551660 m/s,
      LOS rate: 0.029417 deg/s,
      cmd heading: 117.972612 deg,
      new cmd heading: 118.009300 deg.

2025-08-21T06:46:26.737Z,1755758786.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059651 target range: 115.567657 and range: 116.20 m.
2025-08-21T06:46:27.016Z,1755758787.016 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:46:27.122Z,1755758787.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.57 m.
2025-08-21T06:46:27.125Z,1755758787.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.567657 m,
      nav range: 108.557816 m,
      bearing: 131.233793 deg,
      approach rate: -0.546070 m/s,
      LOS rate: 0.028782 deg/s,
      cmd heading: 118.009304 deg,
      new cmd heading: 118.042831 deg.

2025-08-21T06:46:27.126Z,1755758787.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060236 target range: 115.567657 and range: 116.20 m.
2025-08-21T06:46:27.565Z,1755758787.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:27.569Z,1755758787.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.57 m.
2025-08-21T06:46:27.574Z,1755758787.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.567657 m,
      nav range: 108.321236 m,
      bearing: 131.245875 deg,
      approach rate: -0.529978 m/s,
      LOS rate: 0.027126 deg/s,
      cmd heading: 118.042826 deg,
      new cmd heading: 118.079153 deg.

2025-08-21T06:46:27.576Z,1755758787.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060870 target range: 115.567657 and range: 116.20 m.
2025-08-21T06:46:27.814Z,1755758787.814 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:27.814Z,1755758787.814 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:27.814Z,1755758787.814 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:27.932Z,1755758787.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.57 m.
2025-08-21T06:46:27.935Z,1755758787.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.567657 m,
      nav range: 108.117561 m,
      bearing: 131.256106 deg,
      approach rate: -0.559373 m/s,
      LOS rate: 0.028149 deg/s,
      cmd heading: 118.079149 deg,
      new cmd heading: 118.109897 deg.

2025-08-21T06:46:27.936Z,1755758787.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.061407 target range: 115.567657 and range: 116.20 m.
2025-08-21T06:46:28.065Z,1755758788.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257675
2025-08-21T06:46:28.316Z,1755758788.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508774
2025-08-21T06:46:28.326Z,1755758788.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.57 m.
2025-08-21T06:46:28.353Z,1755758788.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.567657 m,
      nav range: 107.903610 m,
      bearing: 131.266751 deg,
      approach rate: -0.542821 m/s,
      LOS rate: 0.027062 deg/s,
      cmd heading: 118.109899 deg,
      new cmd heading: 118.141898 deg.

2025-08-21T06:46:28.354Z,1755758788.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.061965 target range: 115.567657 and range: 116.20 m.
2025-08-21T06:46:28.570Z,1755758788.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761890
2025-08-21T06:46:28.761Z,1755758788.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.57 m.
2025-08-21T06:46:28.764Z,1755758788.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.567657 m,
      nav range: 107.659119 m,
      bearing: 131.279413 deg,
      approach rate: -0.562975 m/s,
      LOS rate: 0.029223 deg/s,
      cmd heading: 118.141891 deg,
      new cmd heading: 118.179965 deg.

2025-08-21T06:46:28.765Z,1755758788.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.062629 target range: 115.567657 and range: 116.20 m.
2025-08-21T06:46:28.821Z,1755758788.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013354
2025-08-21T06:46:29.073Z,1755758789.073 [DAT](INFO): DAT read: Rx Time:06:46:27.6812

2025-08-21T06:46:29.073Z,1755758789.073 [DAT](INFO): Rx dataTimestamp_ set to:1755758789.072975
2025-08-21T06:46:29.074Z,1755758789.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266194
2025-08-21T06:46:29.165Z,1755758789.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.57 m.
2025-08-21T06:46:29.170Z,1755758789.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 115.567657 m,
      nav range: 107.434906 m,
      bearing: 131.290872 deg,
      approach rate: -0.554281 m/s,
      LOS rate: 0.028386 deg/s,
      cmd heading: 118.179963 deg,
      new cmd heading: 118.214410 deg.

2025-08-21T06:46:29.180Z,1755758789.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063231 target range: 115.567657 and range: 116.20 m.
2025-08-21T06:46:29.324Z,1755758789.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516553
2025-08-21T06:46:29.582Z,1755758789.582 [DAT](INFO): DAT read: 06:46:27.6812 LVL= 28240, 32753, 32434, 32755, AGC= 65, IDX= 421,-0.26, 0.445,-1.467, 0.096,-0.061, PHS= 0.608,-1.361, 0.113, RAW= 136.0,   7.3, CAL= 135.9,   8.3, ROT=  14.1,  -8.3

2025-08-21T06:46:29.583Z,1755758789.583 [DAT](INFO): got valid direction response:
 06:46:27.6812 LVL= 28240, 32753, 32434, 32755, AGC= 65, IDX= 421,-0.26, 0.445,-1.467, 0.096,-0.061, PHS= 0.608,-1.361, 0.113, RAW= 136.0,   7.3, CAL= 135.9,   8.3, ROT=  14.1,  -8.3

2025-08-21T06:46:29.584Z,1755758789.584 [DAT](INFO): DAT read: Bearing 277.4,  26.0 (Local)

2025-08-21T06:46:29.584Z,1755758789.584 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.4,  26.0 (Local)

2025-08-21T06:46:29.586Z,1755758789.586 [DAT](INFO): DAT read: Range 11 to 50 : 114.3 m  (Round-trip  152.4 ms) speed  0.5 m/s

2025-08-21T06:46:29.586Z,1755758789.586 [DAT](INFO): DAT read: user:1887>

2025-08-21T06:46:29.588Z,1755758789.588 [DAT](INFO): DAT read: Tx time:06:46:28.7747

2025-08-21T06:46:29.588Z,1755758789.588 [DAT](INFO): Ping request sent.
2025-08-21T06:46:29.588Z,1755758789.588 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:29.588Z,1755758789.588 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:29.589Z,1755758789.589 [DAT](INFO): direction in FSK: [0.959713,0.241063,0.144356]
2025-08-21T06:46:29.589Z,1755758789.589 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:29.590Z,1755758789.590 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:29.593Z,1755758789.593 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:29.593Z,1755758789.593 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:29.653Z,1755758789.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.300003 m,
      deltaT: 3.780057 s,
      deltaX: -1.899994 m,
      approachRate: -0.502636 m/s,
      rangeRepo size: 4

2025-08-21T06:46:29.655Z,1755758789.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 113.678619 m,
      bearing: 131.469276 deg,
      lat: 36.779387 deg,
      lon: -121.859518 deg,
      deltaT: 3.780057 s,
      deltaX: -1.889038 m,
      approachRate: -0.499738 m/s,
      posRepo size: 4

2025-08-21T06:46:29.656Z,1755758789.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.68 m.
2025-08-21T06:46:29.659Z,1755758789.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.678619 m,
      nav range: 107.173187 m,
      bearing: 131.317957 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.028386 deg/s,
      cmd heading: 118.214414 deg,
      new cmd heading: 118.255888 deg.

2025-08-21T06:46:29.668Z,1755758789.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063955 target range: 113.678619 and range: 114.30 m.
2025-08-21T06:46:30.033Z,1755758790.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:30.036Z,1755758790.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.68 m.
2025-08-21T06:46:30.062Z,1755758790.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.678619 m,
      nav range: 106.938690 m,
      bearing: 131.330693 deg,
      approach rate: -0.612134 m/s,
      LOS rate: 0.033319 deg/s,
      cmd heading: 118.255887 deg,
      new cmd heading: 118.294178 deg.

2025-08-21T06:46:30.065Z,1755758790.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064623 target range: 113.678619 and range: 114.30 m.
2025-08-21T06:46:30.080Z,1755758790.080 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:30.080Z,1755758790.080 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:30.080Z,1755758790.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:30.332Z,1755758790.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744317
2025-08-21T06:46:30.503Z,1755758790.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.68 m.
2025-08-21T06:46:30.506Z,1755758790.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.678619 m,
      nav range: 106.680054 m,
      bearing: 131.345459 deg,
      approach rate: -0.552855 m/s,
      LOS rate: 0.031640 deg/s,
      cmd heading: 118.294177 deg,
      new cmd heading: 118.338583 deg.

2025-08-21T06:46:30.512Z,1755758790.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065398 target range: 113.678619 and range: 114.30 m.
2025-08-21T06:46:30.514Z,1755758790.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 62.583603 m.
2025-08-21T06:46:30.586Z,1755758790.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998160
2025-08-21T06:46:30.840Z,1755758790.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252331
2025-08-21T06:46:30.870Z,1755758790.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.68 m.
2025-08-21T06:46:30.877Z,1755758790.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.678619 m,
      nav range: 106.486694 m,
      bearing: 131.356416 deg,
      approach rate: -0.527254 m/s,
      LOS rate: 0.029933 deg/s,
      cmd heading: 118.338587 deg,
      new cmd heading: 118.371519 deg.

2025-08-21T06:46:30.878Z,1755758790.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065973 target range: 113.678619 and range: 114.30 m.
2025-08-21T06:46:31.092Z,1755758791.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504447
2025-08-21T06:46:31.259Z,1755758791.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.68 m.
2025-08-21T06:46:31.262Z,1755758791.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.678619 m,
      nav range: 106.262970 m,
      bearing: 131.369038 deg,
      approach rate: -0.575245 m/s,
      LOS rate: 0.032522 deg/s,
      cmd heading: 118.371522 deg,
      new cmd heading: 118.409468 deg.

2025-08-21T06:46:31.262Z,1755758791.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.066635 target range: 113.678619 and range: 114.30 m.
2025-08-21T06:46:31.345Z,1755758791.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757216
2025-08-21T06:46:31.596Z,1755758791.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008224
2025-08-21T06:46:31.754Z,1755758791.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.68 m.
2025-08-21T06:46:31.758Z,1755758791.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.678619 m,
      nav range: 105.991577 m,
      bearing: 131.385966 deg,
      approach rate: -0.547838 m/s,
      LOS rate: 0.034259 deg/s,
      cmd heading: 118.409471 deg,
      new cmd heading: 118.460386 deg.

2025-08-21T06:46:31.759Z,1755758791.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067524 target range: 113.678619 and range: 114.30 m.
2025-08-21T06:46:31.850Z,1755758791.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261160
2025-08-21T06:46:32.100Z,1755758792.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512393
2025-08-21T06:46:32.119Z,1755758792.119 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:32.121Z,1755758792.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.68 m.
2025-08-21T06:46:32.128Z,1755758792.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.678619 m,
      nav range: 105.792694 m,
      bearing: 131.398297 deg,
      approach rate: -0.541625 m/s,
      LOS rate: 0.033644 deg/s,
      cmd heading: 118.460383 deg,
      new cmd heading: 118.497445 deg.

2025-08-21T06:46:32.129Z,1755758792.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068171 target range: 113.678619 and range: 114.30 m.
2025-08-21T06:46:32.352Z,1755758792.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764198
2025-08-21T06:46:32.589Z,1755758792.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.68 m.
2025-08-21T06:46:32.591Z,1755758792.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.678619 m,
      nav range: 105.544464 m,
      bearing: 131.413467 deg,
      approach rate: -0.531190 m/s,
      LOS rate: 0.032537 deg/s,
      cmd heading: 118.497444 deg,
      new cmd heading: 118.543059 deg.

2025-08-21T06:46:32.592Z,1755758792.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068967 target range: 113.678619 and range: 114.30 m.
2025-08-21T06:46:32.604Z,1755758792.604 [DAT](INFO): DAT read: Rx Time:06:46:31.3283

2025-08-21T06:46:32.605Z,1755758792.605 [DAT](INFO): Rx dataTimestamp_ set to:1755758792.604535
2025-08-21T06:46:32.605Z,1755758792.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017422
2025-08-21T06:46:32.856Z,1755758792.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268321
2025-08-21T06:46:32.916Z,1755758792.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.68 m.
2025-08-21T06:46:32.918Z,1755758792.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 113.678619 m,
      nav range: 105.359001 m,
      bearing: 131.424797 deg,
      approach rate: -0.567894 m/s,
      LOS rate: 0.034756 deg/s,
      cmd heading: 118.543056 deg,
      new cmd heading: 118.577108 deg.

2025-08-21T06:46:32.919Z,1755758792.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.069561 target range: 113.678619 and range: 114.30 m.
2025-08-21T06:46:33.114Z,1755758793.114 [DAT](INFO): DAT read: 06:46:31.3283 LVL= 32224, 32753, 32466, 32755, AGC= 70, IDX= 407, 0.50, 1.129,-0.823, 0.799, 0.584, PHS= 0.647,-1.362, 0.172, RAW= 136.9,   6.0, CAL= 136.9,   7.0, ROT=  13.1,  -7.0

2025-08-21T06:46:33.115Z,1755758793.115 [DAT](INFO): got valid direction response:
 06:46:31.3283 LVL= 32224, 32753, 32466, 32755, AGC= 70, IDX= 407, 0.50, 1.129,-0.823, 0.799, 0.584, PHS= 0.647,-1.362, 0.172, RAW= 136.9,   6.0, CAL= 136.9,   7.0, ROT=  13.1,  -7.0

2025-08-21T06:46:33.116Z,1755758793.116 [DAT](INFO): DAT read: Bearing 277.1,  25.3 (Local)

2025-08-21T06:46:33.117Z,1755758793.117 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.1,  25.3 (Local)

2025-08-21T06:46:33.118Z,1755758793.118 [DAT](INFO): DAT read: Range 11 to 50 : 112.1 m  (Round-trip  149.5 ms) speed  0.4 m/s

2025-08-21T06:46:33.119Z,1755758793.119 [DAT](INFO): DAT read: user:1888>

2025-08-21T06:46:33.120Z,1755758793.120 [DAT](INFO): DAT read: Tx time:06:46:32.4247

2025-08-21T06:46:33.120Z,1755758793.120 [DAT](INFO): Ping request sent.
2025-08-21T06:46:33.120Z,1755758793.120 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:33.120Z,1755758793.120 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:33.121Z,1755758793.121 [DAT](INFO): direction in FSK: [0.966716,0.224962,0.121869]
2025-08-21T06:46:33.122Z,1755758793.122 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:33.122Z,1755758793.122 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:33.125Z,1755758793.125 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:33.125Z,1755758793.125 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:33.357Z,1755758793.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.099998 m,
      deltaT: 3.532061 s,
      deltaX: -2.200005 m,
      approachRate: -0.622867 m/s,
      rangeRepo size: 4

2025-08-21T06:46:33.364Z,1755758793.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.491142 m,
      bearing: 130.996178 deg,
      lat: 36.779390 deg,
      lon: -121.859513 deg,
      deltaT: 3.532061 s,
      deltaX: -2.187477 m,
      approachRate: -0.619320 m/s,
      posRepo size: 4

2025-08-21T06:46:33.365Z,1755758793.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-21T06:46:33.376Z,1755758793.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491142 m,
      nav range: 105.294983 m,
      bearing: 131.118909 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034756 deg/s,
      cmd heading: 118.577111 deg,
      new cmd heading: 118.623116 deg.

2025-08-21T06:46:33.377Z,1755758793.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070364 target range: 111.491142 and range: 112.10 m.
2025-08-21T06:46:33.742Z,1755758793.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-21T06:46:33.745Z,1755758793.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491142 m,
      nav range: 105.063042 m,
      bearing: 131.132772 deg,
      approach rate: -0.602013 m/s,
      LOS rate: 0.036063 deg/s,
      cmd heading: 118.623119 deg,
      new cmd heading: 118.664802 deg.

2025-08-21T06:46:33.745Z,1755758793.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071091 target range: 111.491142 and range: 112.10 m.
2025-08-21T06:46:34.113Z,1755758794.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-21T06:46:34.116Z,1755758794.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491142 m,
      nav range: 104.858513 m,
      bearing: 131.144819 deg,
      approach rate: -0.551466 m/s,
      LOS rate: 0.032544 deg/s,
      cmd heading: 118.664797 deg,
      new cmd heading: 118.701007 deg.

2025-08-21T06:46:34.117Z,1755758794.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071723 target range: 111.491142 and range: 112.10 m.
2025-08-21T06:46:34.610Z,1755758794.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:34.613Z,1755758794.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-21T06:46:34.616Z,1755758794.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491142 m,
      nav range: 104.591690 m,
      bearing: 131.160842 deg,
      approach rate: -0.533512 m/s,
      LOS rate: 0.032120 deg/s,
      cmd heading: 118.701011 deg,
      new cmd heading: 118.749203 deg.

2025-08-21T06:46:34.616Z,1755758794.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072565 target range: 111.491142 and range: 112.10 m.
2025-08-21T06:46:34.620Z,1755758794.620 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:34.620Z,1755758794.620 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:34.620Z,1755758794.620 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:34.873Z,1755758794.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752748
2025-08-21T06:46:34.945Z,1755758794.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-21T06:46:34.947Z,1755758794.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491142 m,
      nav range: 104.396942 m,
      bearing: 131.172503 deg,
      approach rate: -0.586802 m/s,
      LOS rate: 0.035202 deg/s,
      cmd heading: 118.749204 deg,
      new cmd heading: 118.784253 deg.

2025-08-21T06:46:34.948Z,1755758794.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073176 target range: 111.491142 and range: 112.10 m.
2025-08-21T06:46:35.124Z,1755758795.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004132
2025-08-21T06:46:35.373Z,1755758795.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-21T06:46:35.376Z,1755758795.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256189
2025-08-21T06:46:35.378Z,1755758795.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491142 m,
      nav range: 104.172684 m,
      bearing: 131.185867 deg,
      approach rate: -0.523490 m/s,
      LOS rate: 0.031263 deg/s,
      cmd heading: 118.784257 deg,
      new cmd heading: 118.824436 deg.

2025-08-21T06:46:35.378Z,1755758795.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073878 target range: 111.491142 and range: 112.10 m.
2025-08-21T06:46:35.629Z,1755758795.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509046
2025-08-21T06:46:35.788Z,1755758795.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-21T06:46:35.791Z,1755758795.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491142 m,
      nav range: 103.931274 m,
      bearing: 131.201447 deg,
      approach rate: -0.581711 m/s,
      LOS rate: 0.037629 deg/s,
      cmd heading: 118.824432 deg,
      new cmd heading: 118.871280 deg.

2025-08-21T06:46:35.792Z,1755758795.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074695 target range: 111.491142 and range: 112.10 m.
2025-08-21T06:46:35.881Z,1755758795.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761098
2025-08-21T06:46:36.132Z,1755758796.132 [DAT](INFO): DAT read: Rx Time:06:46:34.9757

2025-08-21T06:46:36.133Z,1755758796.133 [DAT](INFO): Rx dataTimestamp_ set to:1755758796.132561
2025-08-21T06:46:36.133Z,1755758796.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013262
2025-08-21T06:46:36.220Z,1755758796.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-21T06:46:36.223Z,1755758796.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491142 m,
      nav range: 103.695915 m,
      bearing: 131.216638 deg,
      approach rate: -0.544966 m/s,
      LOS rate: 0.035253 deg/s,
      cmd heading: 118.871274 deg,
      new cmd heading: 118.916949 deg.

2025-08-21T06:46:36.228Z,1755758796.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075492 target range: 111.491142 and range: 112.10 m.
2025-08-21T06:46:36.385Z,1755758796.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264991
2025-08-21T06:46:36.601Z,1755758796.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.49 m.
2025-08-21T06:46:36.620Z,1755758796.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.491142 m,
      nav range: 103.488075 m,
      bearing: 131.227312 deg,
      approach rate: -0.545778 m/s,
      LOS rate: 0.028087 deg/s,
      cmd heading: 118.916954 deg,
      new cmd heading: 118.949042 deg.

2025-08-21T06:46:36.620Z,1755758796.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.076052 target range: 111.491142 and range: 112.10 m.
2025-08-21T06:46:36.640Z,1755758796.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518881
2025-08-21T06:46:36.894Z,1755758796.894 [DAT](INFO): DAT read: 06:46:34.9757 LVL= 31504, 32753, 32754, 32755, AGC= 66, IDX= 413, 0.50,-2.620, 1.669,-2.945, 3.106, PHS= 0.660,-1.392, 0.189, RAW= 137.3,   5.9, CAL= 137.3,   6.8, ROT=  12.7,  -6.8

2025-08-21T06:46:36.895Z,1755758796.895 [DAT](INFO): got valid direction response:
 06:46:34.9757 LVL= 31504, 32753, 32754, 32755, AGC= 66, IDX= 413, 0.50,-2.620, 1.669,-2.945, 3.106, PHS= 0.660,-1.392, 0.189, RAW= 137.3,   5.9, CAL= 137.3,   6.8, ROT=  12.7,  -6.8

2025-08-21T06:46:36.896Z,1755758796.896 [DAT](INFO): DAT read: Bearing 278.0,  24.7 (Local)

2025-08-21T06:46:36.896Z,1755758796.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.0,  24.7 (Local)

2025-08-21T06:46:36.898Z,1755758796.898 [DAT](INFO): DAT read: Range 11 to 50 : 110.1 m  (Round-trip  146.9 ms) speed  0.5 m/s

2025-08-21T06:46:36.898Z,1755758796.898 [DAT](INFO): DAT read: user:1889>

2025-08-21T06:46:36.899Z,1755758796.899 [DAT](INFO): DAT read: Tx time:06:46:36.0747

2025-08-21T06:46:36.899Z,1755758796.899 [DAT](INFO): Ping request sent.
2025-08-21T06:46:36.900Z,1755758796.900 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:36.900Z,1755758796.900 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:36.901Z,1755758796.901 [DAT](INFO): direction in FSK: [0.968672,0.218300,0.118404]
2025-08-21T06:46:36.901Z,1755758796.901 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:36.901Z,1755758796.901 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:36.905Z,1755758796.905 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:36.905Z,1755758796.905 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:37.052Z,1755758797.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.099998 m,
      deltaT: 3.779869 s,
      deltaX: -2.000000 m,
      approachRate: -0.529119 m/s,
      rangeRepo size: 4

2025-08-21T06:46:37.060Z,1755758797.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.502396 m,
      bearing: 131.129591 deg,
      lat: 36.779389 deg,
      lon: -121.859513 deg,
      deltaT: 3.779869 s,
      deltaX: -1.988747 m,
      approachRate: -0.526142 m/s,
      posRepo size: 4

2025-08-21T06:46:37.061Z,1755758797.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-21T06:46:37.068Z,1755758797.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.502396 m,
      nav range: 103.396240 m,
      bearing: 131.316060 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.028087 deg/s,
      cmd heading: 118.949042 deg,
      new cmd heading: 118.986587 deg.

2025-08-21T06:46:37.069Z,1755758797.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.076708 target range: 109.502396 and range: 110.10 m.
2025-08-21T06:46:37.379Z,1755758797.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:37.381Z,1755758797.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-21T06:46:37.385Z,1755758797.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.502396 m,
      nav range: 103.191704 m,
      bearing: 131.326521 deg,
      approach rate: -0.610354 m/s,
      LOS rate: 0.031278 deg/s,
      cmd heading: 118.986581 deg,
      new cmd heading: 119.018026 deg.

2025-08-21T06:46:37.386Z,1755758797.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077256 target range: 109.502396 and range: 110.10 m.
2025-08-21T06:46:37.396Z,1755758797.396 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:37.396Z,1755758797.396 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:37.396Z,1755758797.396 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:37.648Z,1755758797.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748523
2025-08-21T06:46:37.807Z,1755758797.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-21T06:46:37.809Z,1755758797.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.502396 m,
      nav range: 102.956192 m,
      bearing: 131.337194 deg,
      approach rate: -0.553921 m/s,
      LOS rate: 0.025161 deg/s,
      cmd heading: 119.018027 deg,
      new cmd heading: 119.050121 deg.

2025-08-21T06:46:37.810Z,1755758797.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077816 target range: 109.502396 and range: 110.10 m.
2025-08-21T06:46:37.901Z,1755758797.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001639
2025-08-21T06:46:38.153Z,1755758798.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253307
2025-08-21T06:46:38.214Z,1755758798.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-21T06:46:38.233Z,1755758798.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.502396 m,
      nav range: 102.732513 m,
      bearing: 131.347262 deg,
      approach rate: -0.549057 m/s,
      LOS rate: 0.024768 deg/s,
      cmd heading: 119.050115 deg,
      new cmd heading: 119.080386 deg.

2025-08-21T06:46:38.234Z,1755758798.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.078345 target range: 109.502396 and range: 110.10 m.
2025-08-21T06:46:38.404Z,1755758798.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504584
2025-08-21T06:46:38.635Z,1755758798.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-21T06:46:38.637Z,1755758798.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.502396 m,
      nav range: 102.500938 m,
      bearing: 131.356836 deg,
      approach rate: -0.550473 m/s,
      LOS rate: 0.022808 deg/s,
      cmd heading: 119.080387 deg,
      new cmd heading: 119.109172 deg.

2025-08-21T06:46:38.638Z,1755758798.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.078847 target range: 109.502396 and range: 110.10 m.
2025-08-21T06:46:38.661Z,1755758798.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761141
2025-08-21T06:46:38.908Z,1755758798.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008645
2025-08-21T06:46:39.006Z,1755758799.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-21T06:46:39.009Z,1755758799.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.502396 m,
      nav range: 102.296371 m,
      bearing: 131.365132 deg,
      approach rate: -0.550731 m/s,
      LOS rate: 0.022380 deg/s,
      cmd heading: 119.109169 deg,
      new cmd heading: 119.134108 deg.

2025-08-21T06:46:39.010Z,1755758799.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.079283 target range: 109.502396 and range: 110.10 m.
2025-08-21T06:46:39.161Z,1755758799.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261300
2025-08-21T06:46:39.397Z,1755758799.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:39.401Z,1755758799.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-21T06:46:39.404Z,1755758799.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.502396 m,
      nav range: 102.080238 m,
      bearing: 131.373863 deg,
      approach rate: -0.549965 m/s,
      LOS rate: 0.022265 deg/s,
      cmd heading: 119.134113 deg,
      new cmd heading: 119.160363 deg.

2025-08-21T06:46:39.405Z,1755758799.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.079741 target range: 109.502396 and range: 110.10 m.
2025-08-21T06:46:39.413Z,1755758799.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512996
2025-08-21T06:46:39.668Z,1755758799.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768191
2025-08-21T06:46:39.833Z,1755758799.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-21T06:46:39.836Z,1755758799.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.502396 m,
      nav range: 101.842766 m,
      bearing: 131.380777 deg,
      approach rate: -0.546748 m/s,
      LOS rate: 0.015955 deg/s,
      cmd heading: 119.160368 deg,
      new cmd heading: 119.181157 deg.

2025-08-21T06:46:39.837Z,1755758799.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.080104 target range: 109.502396 and range: 110.10 m.
2025-08-21T06:46:39.917Z,1755758799.917 [DAT](INFO): DAT read: Rx Time:06:46:38.6230

2025-08-21T06:46:39.918Z,1755758799.918 [DAT](INFO): Rx dataTimestamp_ set to:1755758799.917285
2025-08-21T06:46:39.919Z,1755758799.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018860
2025-08-21T06:46:40.169Z,1755758800.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268920
2025-08-21T06:46:40.233Z,1755758800.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.50 m.
2025-08-21T06:46:40.237Z,1755758800.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.502396 m,
      nav range: 101.629013 m,
      bearing: 131.387040 deg,
      approach rate: -0.535280 m/s,
      LOS rate: 0.015716 deg/s,
      cmd heading: 119.181159 deg,
      new cmd heading: 119.199987 deg.

2025-08-21T06:46:40.238Z,1755758800.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.080432 target range: 109.502396 and range: 110.10 m.
2025-08-21T06:46:40.429Z,1755758800.429 [DAT](INFO): DAT read: 06:46:38.6230 LVL= 29232, 32753, 32754, 32755, AGC= 67, IDX= 417, 0.48,-0.868,-2.785,-1.158,-1.403, PHS= 0.637,-1.337, 0.201, RAW= 137.9,   5.6, CAL= 137.8,   6.5, ROT=  12.2,  -6.5

2025-08-21T06:46:40.430Z,1755758800.430 [DAT](INFO): got valid direction response:
 06:46:38.6230 LVL= 29232, 32753, 32754, 32755, AGC= 67, IDX= 417, 0.48,-0.868,-2.785,-1.158,-1.403, PHS= 0.637,-1.337, 0.201, RAW= 137.9,   5.6, CAL= 137.8,   6.5, ROT=  12.2,  -6.5

2025-08-21T06:46:40.433Z,1755758800.433 [DAT](INFO): DAT read: Bearing 278.5,  23.9 (Local)

2025-08-21T06:46:40.433Z,1755758800.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.5,  23.9 (Local)

2025-08-21T06:46:40.435Z,1755758800.435 [DAT](INFO): DAT read: Range 11 to 50 : 108.1 m  (Round-trip  144.2 ms) speed  0.7 m/s

2025-08-21T06:46:40.436Z,1755758800.436 [DAT](INFO): DAT read: user:1890>

2025-08-21T06:46:40.438Z,1755758800.438 [DAT](INFO): DAT read: Tx time:06:46:39.7247

2025-08-21T06:46:40.438Z,1755758800.438 [DAT](INFO): Ping request sent.
2025-08-21T06:46:40.438Z,1755758800.438 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:40.438Z,1755758800.438 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:40.439Z,1755758800.439 [DAT](INFO): direction in FSK: [0.971133,0.209966,0.113203]
2025-08-21T06:46:40.440Z,1755758800.440 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:40.440Z,1755758800.440 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:40.445Z,1755758800.445 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:40.446Z,1755758800.446 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:40.729Z,1755758800.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.099998 m,
      deltaT: 3.534230 s,
      deltaX: -2.000000 m,
      approachRate: -0.565894 m/s,
      rangeRepo size: 4

2025-08-21T06:46:40.731Z,1755758800.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.513847 m,
      bearing: 130.934260 deg,
      lat: 36.779389 deg,
      lon: -121.859509 deg,
      deltaT: 3.534230 s,
      deltaX: -1.988548 m,
      approachRate: -0.562654 m/s,
      posRepo size: 4

2025-08-21T06:46:40.736Z,1755758800.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.51 m.
2025-08-21T06:46:40.738Z,1755758800.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.513847 m,
      nav range: 101.573875 m,
      bearing: 131.230407 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015716 deg/s,
      cmd heading: 119.199983 deg,
      new cmd heading: 119.223345 deg.

2025-08-21T06:46:40.743Z,1755758800.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.080840 target range: 107.513847 and range: 108.10 m.
2025-08-21T06:46:41.082Z,1755758801.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.51 m.
2025-08-21T06:46:41.085Z,1755758801.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.513847 m,
      nav range: 101.367592 m,
      bearing: 131.234357 deg,
      approach rate: -0.582444 m/s,
      LOS rate: 0.011175 deg/s,
      cmd heading: 119.223343 deg,
      new cmd heading: 119.235216 deg.

2025-08-21T06:46:41.086Z,1755758801.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.081047 target range: 107.513847 and range: 108.10 m.
2025-08-21T06:46:41.490Z,1755758801.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:41.492Z,1755758801.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.51 m.
2025-08-21T06:46:41.495Z,1755758801.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.513847 m,
      nav range: 101.143913 m,
      bearing: 131.238481 deg,
      approach rate: -0.545466 m/s,
      LOS rate: 0.010079 deg/s,
      cmd heading: 119.235213 deg,
      new cmd heading: 119.247613 deg.

2025-08-21T06:46:41.496Z,1755758801.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.081264 target range: 107.513847 and range: 108.10 m.
2025-08-21T06:46:41.680Z,1755758801.680 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:41.680Z,1755758801.680 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:41.680Z,1755758801.680 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:41.920Z,1755758801.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.51 m.
2025-08-21T06:46:41.923Z,1755758801.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.513847 m,
      nav range: 100.906029 m,
      bearing: 131.244321 deg,
      approach rate: -0.556407 m/s,
      LOS rate: 0.013692 deg/s,
      cmd heading: 119.247617 deg,
      new cmd heading: 119.265179 deg.

2025-08-21T06:46:41.924Z,1755758801.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.081570 target range: 107.513847 and range: 108.10 m.
2025-08-21T06:46:41.932Z,1755758801.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494390
2025-08-21T06:46:42.184Z,1755758802.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746247
2025-08-21T06:46:42.302Z,1755758802.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.51 m.
2025-08-21T06:46:42.305Z,1755758802.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.513847 m,
      nav range: 100.693604 m,
      bearing: 131.249475 deg,
      approach rate: -0.556493 m/s,
      LOS rate: 0.013529 deg/s,
      cmd heading: 119.265184 deg,
      new cmd heading: 119.280677 deg.

2025-08-21T06:46:42.305Z,1755758802.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.081841 target range: 107.513847 and range: 108.10 m.
2025-08-21T06:46:42.436Z,1755758802.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998369
2025-08-21T06:46:42.688Z,1755758802.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250392
2025-08-21T06:46:42.730Z,1755758802.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.51 m.
2025-08-21T06:46:42.733Z,1755758802.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.513847 m,
      nav range: 100.458389 m,
      bearing: 131.253475 deg,
      approach rate: -0.549397 m/s,
      LOS rate: 0.009365 deg/s,
      cmd heading: 119.280675 deg,
      new cmd heading: 119.292704 deg.

2025-08-21T06:46:42.734Z,1755758802.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082051 target range: 107.513847 and range: 108.10 m.
2025-08-21T06:46:42.941Z,1755758802.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502758
2025-08-21T06:46:43.149Z,1755758803.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.51 m.
2025-08-21T06:46:43.157Z,1755758803.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.513847 m,
      nav range: 100.251343 m,
      bearing: 131.256953 deg,
      approach rate: -0.494371 m/s,
      LOS rate: 0.008322 deg/s,
      cmd heading: 119.292710 deg,
      new cmd heading: 119.303166 deg.

2025-08-21T06:46:43.159Z,1755758803.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082233 target range: 107.513847 and range: 108.10 m.
2025-08-21T06:46:43.192Z,1755758803.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754533
2025-08-21T06:46:43.444Z,1755758803.444 [DAT](INFO): DAT read: Rx Time:06:46:42.2704

2025-08-21T06:46:43.445Z,1755758803.445 [DAT](INFO): Rx dataTimestamp_ set to:1755758803.444594
2025-08-21T06:46:43.445Z,1755758803.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007505
2025-08-21T06:46:43.542Z,1755758803.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:43.548Z,1755758803.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.51 m.
2025-08-21T06:46:43.555Z,1755758803.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.513847 m,
      nav range: 100.016029 m,
      bearing: 131.260870 deg,
      approach rate: -0.588613 m/s,
      LOS rate: 0.009822 deg/s,
      cmd heading: 119.303160 deg,
      new cmd heading: 119.314939 deg.

2025-08-21T06:46:43.556Z,1755758803.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082438 target range: 107.513847 and range: 108.10 m.
2025-08-21T06:46:43.697Z,1755758803.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258640
2025-08-21T06:46:43.952Z,1755758803.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513157
2025-08-21T06:46:44.061Z,1755758804.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.51 m.
2025-08-21T06:46:44.064Z,1755758804.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.513847 m,
      nav range: 99.728500 m,
      bearing: 131.266858 deg,
      approach rate: -0.560707 m/s,
      LOS rate: 0.011711 deg/s,
      cmd heading: 119.314935 deg,
      new cmd heading: 119.332951 deg.

2025-08-21T06:46:44.065Z,1755758804.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082753 target range: 107.513847 and range: 108.10 m.
2025-08-21T06:46:44.206Z,1755758804.206 [DAT](INFO): DAT read: 06:46:42.2704 LVL= 25584, 32753, 29170, 32755, AGC= 66, IDX= 422,-0.11,-2.038, 2.331,-2.299,-2.549, PHS= 0.613,-1.359, 0.206, RAW= 138.7,   6.0, CAL= 138.5,   6.9, ROT=  11.5,  -6.9

2025-08-21T06:46:44.208Z,1755758804.208 [DAT](INFO): got valid direction response:
 06:46:42.2704 LVL= 25584, 32753, 29170, 32755, AGC= 66, IDX= 422,-0.11,-2.038, 2.331,-2.299,-2.549, PHS= 0.613,-1.359, 0.206, RAW= 138.7,   6.0, CAL= 138.5,   6.9, ROT=  11.5,  -6.9

2025-08-21T06:46:44.209Z,1755758804.209 [DAT](INFO): DAT read: Bearing 279.7,  23.3 (Local)

2025-08-21T06:46:44.209Z,1755758804.209 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.7,  23.3 (Local)

2025-08-21T06:46:44.210Z,1755758804.210 [DAT](INFO): DAT read: Range 11 to 50 : 106.2 m  (Round-trip  141.6 ms) speed  0.6 m/s

2025-08-21T06:46:44.211Z,1755758804.211 [DAT](INFO): DAT read: user:1891>

2025-08-21T06:46:44.212Z,1755758804.212 [DAT](INFO): DAT read: Tx time:06:46:43.3747

2025-08-21T06:46:44.212Z,1755758804.212 [DAT](INFO): Ping request sent.
2025-08-21T06:46:44.212Z,1755758804.212 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:44.213Z,1755758804.213 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:44.214Z,1755758804.214 [DAT](INFO): direction in FSK: [0.972827,0.197924,0.120137]
2025-08-21T06:46:44.214Z,1755758804.214 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:44.214Z,1755758804.214 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:44.217Z,1755758804.217 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:44.217Z,1755758804.217 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:44.424Z,1755758804.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 106.199997 m,
      deltaT: 3.777811 s,
      deltaX: -1.900002 m,
      approachRate: -0.502937 m/s,
      rangeRepo size: 4

2025-08-21T06:46:44.426Z,1755758804.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.624413 m,
      bearing: 130.580167 deg,
      lat: 36.779389 deg,
      lon: -121.859507 deg,
      deltaT: 3.777811 s,
      deltaX: -1.889435 m,
      approachRate: -0.500140 m/s,
      posRepo size: 4

2025-08-21T06:46:44.427Z,1755758804.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.62 m.
2025-08-21T06:46:44.434Z,1755758804.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.624413 m,
      nav range: 99.670502 m,
      bearing: 131.207051 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011711 deg/s,
      cmd heading: 119.332953 deg,
      new cmd heading: 119.345530 deg.

2025-08-21T06:46:44.435Z,1755758804.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082973 target range: 105.624413 and range: 106.20 m.
2025-08-21T06:46:44.823Z,1755758804.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.62 m.
2025-08-21T06:46:44.826Z,1755758804.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.624413 m,
      nav range: 99.440559 m,
      bearing: 131.216221 deg,
      approach rate: -0.569579 m/s,
      LOS rate: 0.022767 deg/s,
      cmd heading: 119.345535 deg,
      new cmd heading: 119.373108 deg.

2025-08-21T06:46:44.827Z,1755758804.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.083454 target range: 105.624413 and range: 106.20 m.
2025-08-21T06:46:45.207Z,1755758805.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.62 m.
2025-08-21T06:46:45.210Z,1755758805.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.624413 m,
      nav range: 99.230171 m,
      bearing: 131.224646 deg,
      approach rate: -0.548227 m/s,
      LOS rate: 0.022000 deg/s,
      cmd heading: 119.373115 deg,
      new cmd heading: 119.398443 deg.

2025-08-21T06:46:45.228Z,1755758805.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.083896 target range: 105.624413 and range: 106.20 m.
2025-08-21T06:46:45.620Z,1755758805.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:45.622Z,1755758805.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.62 m.
2025-08-21T06:46:45.626Z,1755758805.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.624413 m,
      nav range: 99.005013 m,
      bearing: 131.233653 deg,
      approach rate: -0.542018 m/s,
      LOS rate: 0.021732 deg/s,
      cmd heading: 119.398441 deg,
      new cmd heading: 119.425525 deg.

2025-08-21T06:46:45.630Z,1755758805.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.084369 target range: 105.624413 and range: 106.20 m.
2025-08-21T06:46:45.712Z,1755758805.712 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:45.712Z,1755758805.712 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:45.713Z,1755758805.713 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:45.965Z,1755758805.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752128
2025-08-21T06:46:46.131Z,1755758806.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.62 m.
2025-08-21T06:46:46.134Z,1755758806.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.624413 m,
      nav range: 98.718971 m,
      bearing: 131.246708 deg,
      approach rate: -0.562392 m/s,
      LOS rate: 0.025742 deg/s,
      cmd heading: 119.425530 deg,
      new cmd heading: 119.464808 deg.

2025-08-21T06:46:46.134Z,1755758806.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085054 target range: 105.624413 and range: 106.20 m.
2025-08-21T06:46:46.218Z,1755758806.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005123
2025-08-21T06:46:46.468Z,1755758806.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255859
2025-08-21T06:46:46.554Z,1755758806.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.62 m.
2025-08-21T06:46:46.561Z,1755758806.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.624413 m,
      nav range: 98.486664 m,
      bearing: 131.257273 deg,
      approach rate: -0.548502 m/s,
      LOS rate: 0.025003 deg/s,
      cmd heading: 119.464803 deg,
      new cmd heading: 119.496572 deg.

2025-08-21T06:46:46.562Z,1755758806.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085609 target range: 105.624413 and range: 106.20 m.
2025-08-21T06:46:46.720Z,1755758806.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507731
2025-08-21T06:46:46.957Z,1755758806.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.62 m.
2025-08-21T06:46:46.960Z,1755758806.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.624413 m,
      nav range: 98.253128 m,
      bearing: 131.269798 deg,
      approach rate: -0.580078 m/s,
      LOS rate: 0.031184 deg/s,
      cmd heading: 119.496577 deg,
      new cmd heading: 119.534241 deg.

2025-08-21T06:46:46.961Z,1755758806.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.086266 target range: 105.624413 and range: 106.20 m.
2025-08-21T06:46:46.973Z,1755758806.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760140
2025-08-21T06:46:47.225Z,1755758807.225 [DAT](INFO): DAT read: Rx Time:06:46:45.9176

2025-08-21T06:46:47.225Z,1755758807.225 [DAT](INFO): Rx dataTimestamp_ set to:1755758807.224765
2025-08-21T06:46:47.226Z,1755758807.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013195
2025-08-21T06:46:47.337Z,1755758807.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.62 m.
2025-08-21T06:46:47.340Z,1755758807.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.624413 m,
      nav range: 98.036423 m,
      bearing: 131.281309 deg,
      approach rate: -0.569874 m/s,
      LOS rate: 0.030338 deg/s,
      cmd heading: 119.534239 deg,
      new cmd heading: 119.568849 deg.

2025-08-21T06:46:47.341Z,1755758807.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.086870 target range: 105.624413 and range: 106.20 m.
2025-08-21T06:46:47.476Z,1755758807.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263736
2025-08-21T06:46:47.734Z,1755758807.734 [DAT](INFO): DAT read: 06:46:45.9176 LVL= 31152, 32481, 31202, 32755, AGC= 68, IDX= 410,-0.05, 0.986,-0.915, 0.715, 0.433, PHS= 0.656,-1.303, 0.238, RAW= 138.3,   4.6, CAL= 138.3,   5.4, ROT=  11.7,  -5.4

2025-08-21T06:46:47.735Z,1755758807.735 [DAT](INFO): got valid direction response:
 06:46:45.9176 LVL= 31152, 32481, 31202, 32755, AGC= 68, IDX= 410,-0.05, 0.986,-0.915, 0.715, 0.433, PHS= 0.656,-1.303, 0.238, RAW= 138.3,   4.6, CAL= 138.3,   5.4, ROT=  11.7,  -5.4

2025-08-21T06:46:47.736Z,1755758807.736 [DAT](INFO): DAT read: Bearing 279.0,  23.7 (Local)

2025-08-21T06:46:47.736Z,1755758807.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.0,  23.7 (Local)

2025-08-21T06:46:47.738Z,1755758807.738 [DAT](INFO): DAT read: Range 11 to 50 : 104.1 m  (Round-trip  138.8 ms) speed  0.4 m/s

2025-08-21T06:46:47.739Z,1755758807.739 [DAT](INFO): DAT read: user:1892>

2025-08-21T06:46:47.740Z,1755758807.740 [DAT](INFO): DAT read: Tx time:06:46:47.0247

2025-08-21T06:46:47.740Z,1755758807.740 [DAT](INFO): Ping request sent.
2025-08-21T06:46:47.740Z,1755758807.740 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:47.740Z,1755758807.740 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:47.741Z,1755758807.741 [DAT](INFO): direction in FSK: [0.974877,0.201887,0.094108]
2025-08-21T06:46:47.741Z,1755758807.741 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:47.742Z,1755758807.742 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:47.781Z,1755758807.781 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:47.781Z,1755758807.781 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:47.900Z,1755758807.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 104.099998 m,
      deltaT: 3.528119 s,
      deltaX: -2.099998 m,
      approachRate: -0.595218 m/s,
      rangeRepo size: 4

2025-08-21T06:46:47.902Z,1755758807.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.536133 m,
      bearing: 131.025109 deg,
      lat: 36.779389 deg,
      lon: -121.859500 deg,
      deltaT: 3.528119 s,
      deltaX: -2.088280 m,
      approachRate: -0.591896 m/s,
      posRepo size: 4

2025-08-21T06:46:47.902Z,1755758807.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.54 m.
2025-08-21T06:46:47.913Z,1755758807.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.536133 m,
      nav range: 98.227287 m,
      bearing: 131.053190 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030338 deg/s,
      cmd heading: 119.568854 deg,
      new cmd heading: 119.618140 deg.

2025-08-21T06:46:47.914Z,1755758807.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.087730 target range: 103.536133 and range: 104.10 m.
2025-08-21T06:46:48.244Z,1755758808.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:48.246Z,1755758808.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.54 m.
2025-08-21T06:46:48.250Z,1755758808.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.536133 m,
      nav range: 98.002075 m,
      bearing: 131.065249 deg,
      approach rate: -0.613446 m/s,
      LOS rate: 0.032922 deg/s,
      cmd heading: 119.618141 deg,
      new cmd heading: 119.654401 deg.

2025-08-21T06:46:48.251Z,1755758808.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.088363 target range: 103.536133 and range: 104.10 m.
2025-08-21T06:46:48.486Z,1755758808.486 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:48.486Z,1755758808.486 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:48.487Z,1755758808.487 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:48.648Z,1755758808.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.54 m.
2025-08-21T06:46:48.651Z,1755758808.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.536133 m,
      nav range: 97.777473 m,
      bearing: 131.077226 deg,
      approach rate: -0.558228 m/s,
      LOS rate: 0.029838 deg/s,
      cmd heading: 119.654396 deg,
      new cmd heading: 119.690411 deg.

2025-08-21T06:46:48.653Z,1755758808.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.088992 target range: 103.536133 and range: 104.10 m.
2025-08-21T06:46:48.736Z,1755758808.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996338
2025-08-21T06:46:48.990Z,1755758808.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249714
2025-08-21T06:46:49.089Z,1755758809.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.54 m.
2025-08-21T06:46:49.092Z,1755758809.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.536133 m,
      nav range: 97.527390 m,
      bearing: 131.091748 deg,
      approach rate: -0.567230 m/s,
      LOS rate: 0.033021 deg/s,
      cmd heading: 119.690418 deg,
      new cmd heading: 119.734094 deg.

2025-08-21T06:46:49.093Z,1755758809.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089754 target range: 103.536133 and range: 104.10 m.
2025-08-21T06:46:49.241Z,1755758809.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501281
2025-08-21T06:46:49.494Z,1755758809.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753375
2025-08-21T06:46:49.556Z,1755758809.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.54 m.
2025-08-21T06:46:49.559Z,1755758809.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.536133 m,
      nav range: 97.267136 m,
      bearing: 131.106589 deg,
      approach rate: -0.557199 m/s,
      LOS rate: 0.031860 deg/s,
      cmd heading: 119.734090 deg,
      new cmd heading: 119.778734 deg.

2025-08-21T06:46:49.580Z,1755758809.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.090533 target range: 103.536133 and range: 104.10 m.
2025-08-21T06:46:49.747Z,1755758809.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006615
2025-08-21T06:46:49.974Z,1755758809.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.54 m.
2025-08-21T06:46:49.982Z,1755758809.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.536133 m,
      nav range: 97.038651 m,
      bearing: 131.116333 deg,
      approach rate: -0.547275 m/s,
      LOS rate: 0.023394 deg/s,
      cmd heading: 119.778733 deg,
      new cmd heading: 119.808033 deg.

2025-08-21T06:46:49.989Z,1755758809.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091045 target range: 103.536133 and range: 104.10 m.
2025-08-21T06:46:49.998Z,1755758809.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257572
2025-08-21T06:46:50.248Z,1755758810.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508357
2025-08-21T06:46:50.358Z,1755758810.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:50.360Z,1755758810.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.54 m.
2025-08-21T06:46:50.363Z,1755758810.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.536133 m,
      nav range: 96.807510 m,
      bearing: 131.126202 deg,
      approach rate: -0.598071 m/s,
      LOS rate: 0.025596 deg/s,
      cmd heading: 119.808034 deg,
      new cmd heading: 119.837710 deg.

2025-08-21T06:46:50.364Z,1755758810.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091563 target range: 103.536133 and range: 104.10 m.
2025-08-21T06:46:50.501Z,1755758810.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761076
2025-08-21T06:46:50.754Z,1755758810.754 [DAT](INFO): DAT read: Rx Time:06:46:49.5649

2025-08-21T06:46:50.754Z,1755758810.754 [DAT](INFO): Rx dataTimestamp_ set to:1755758810.753796
2025-08-21T06:46:50.755Z,1755758810.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014718
2025-08-21T06:46:50.853Z,1755758810.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.54 m.
2025-08-21T06:46:50.860Z,1755758810.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.536133 m,
      nav range: 96.531517 m,
      bearing: 131.137343 deg,
      approach rate: -0.559584 m/s,
      LOS rate: 0.022654 deg/s,
      cmd heading: 119.837704 deg,
      new cmd heading: 119.871224 deg.

2025-08-21T06:46:50.861Z,1755758810.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092148 target range: 103.536133 and range: 104.10 m.
2025-08-21T06:46:51.005Z,1755758811.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264818
2025-08-21T06:46:51.215Z,1755758811.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.54 m.
2025-08-21T06:46:51.218Z,1755758811.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.536133 m,
      nav range: 96.335327 m,
      bearing: 131.145132 deg,
      approach rate: -0.547974 m/s,
      LOS rate: 0.021799 deg/s,
      cmd heading: 119.871227 deg,
      new cmd heading: 119.894641 deg.

2025-08-21T06:46:51.219Z,1755758811.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092556 target range: 103.536133 and range: 104.10 m.
2025-08-21T06:46:51.260Z,1755758811.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519486
2025-08-21T06:46:51.515Z,1755758811.515 [DAT](INFO): DAT read: 06:46:49.5649 LVL= 25968, 30577, 32754, 32755, AGC= 70, IDX= 414, 0.27, 2.379, 0.519, 2.143, 1.840, PHS= 0.641,-1.276, 0.259, RAW= 139.1,   4.3, CAL= 139.0,   5.1, ROT=  11.0,  -5.1

2025-08-21T06:46:51.516Z,1755758811.516 [DAT](INFO): got valid direction response:
 06:46:49.5649 LVL= 25968, 30577, 32754, 32755, AGC= 70, IDX= 414, 0.27, 2.379, 0.519, 2.143, 1.840, PHS= 0.641,-1.276, 0.259, RAW= 139.1,   4.3, CAL= 139.0,   5.1, ROT=  11.0,  -5.1

2025-08-21T06:46:51.517Z,1755758811.517 [DAT](INFO): DAT read: Bearing 278.9,  23.0 (Local)

2025-08-21T06:46:51.517Z,1755758811.517 [DAT](INFO): Local bearing/azimuth received:
 Bearing 278.9,  23.0 (Local)

2025-08-21T06:46:51.519Z,1755758811.519 [DAT](INFO): DAT read: Range 11 to 50 : 102.0 m  (Round-trip  136.1 ms) speed  0.8 m/s

2025-08-21T06:46:51.532Z,1755758811.532 [DAT](INFO): DAT read: user:1893>

2025-08-21T06:46:51.533Z,1755758811.533 [DAT](INFO): DAT read: Tx time:06:46:50.6747

2025-08-21T06:46:51.533Z,1755758811.533 [DAT](INFO): Ping request sent.
2025-08-21T06:46:51.534Z,1755758811.534 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:51.534Z,1755758811.534 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:51.556Z,1755758811.556 [DAT](INFO): direction in FSK: [0.977741,0.190054,0.088894]
2025-08-21T06:46:51.556Z,1755758811.556 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:51.557Z,1755758811.557 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:51.580Z,1755758811.580 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:51.580Z,1755758811.580 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:51.669Z,1755758811.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 102.000000 m,
      deltaT: 3.780275 s,
      deltaX: -2.099998 m,
      approachRate: -0.555515 m/s,
      rangeRepo size: 4

2025-08-21T06:46:51.671Z,1755758811.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.447891 m,
      bearing: 130.711043 deg,
      lat: 36.779389 deg,
      lon: -121.859495 deg,
      deltaT: 3.780275 s,
      deltaX: -2.088242 m,
      approachRate: -0.552405 m/s,
      posRepo size: 4

2025-08-21T06:46:51.676Z,1755758811.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.45 m.
2025-08-21T06:46:51.678Z,1755758811.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.447891 m,
      nav range: 96.445564 m,
      bearing: 131.026357 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021799 deg/s,
      cmd heading: 119.894641 deg,
      new cmd heading: 119.924470 deg.

2025-08-21T06:46:51.683Z,1755758811.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093077 target range: 101.447891 and range: 102.00 m.
2025-08-21T06:46:52.054Z,1755758812.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.45 m.
2025-08-21T06:46:52.056Z,1755758812.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.447891 m,
      nav range: 96.219284 m,
      bearing: 131.034296 deg,
      approach rate: -0.585886 m/s,
      LOS rate: 0.020604 deg/s,
      cmd heading: 119.924475 deg,
      new cmd heading: 119.948348 deg.

2025-08-21T06:46:52.057Z,1755758812.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093494 target range: 101.447891 and range: 102.00 m.
2025-08-21T06:46:52.432Z,1755758812.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:52.434Z,1755758812.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.45 m.
2025-08-21T06:46:52.437Z,1755758812.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.447891 m,
      nav range: 96.007233 m,
      bearing: 131.041711 deg,
      approach rate: -0.557191 m/s,
      LOS rate: 0.019527 deg/s,
      cmd heading: 119.948353 deg,
      new cmd heading: 119.970648 deg.

2025-08-21T06:46:52.438Z,1755758812.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093883 target range: 101.447891 and range: 102.00 m.
2025-08-21T06:46:52.517Z,1755758812.517 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:52.517Z,1755758812.517 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:52.517Z,1755758812.517 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:52.771Z,1755758812.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236731
2025-08-21T06:46:52.867Z,1755758812.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.45 m.
2025-08-21T06:46:52.870Z,1755758812.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.447891 m,
      nav range: 95.766174 m,
      bearing: 131.044991 deg,
      approach rate: -0.557256 m/s,
      LOS rate: 0.007601 deg/s,
      cmd heading: 119.970647 deg,
      new cmd heading: 119.980512 deg.

2025-08-21T06:46:52.870Z,1755758812.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094055 target range: 101.447891 and range: 102.00 m.
2025-08-21T06:46:53.020Z,1755758813.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486755
2025-08-21T06:46:53.241Z,1755758813.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.45 m.
2025-08-21T06:46:53.244Z,1755758813.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.447891 m,
      nav range: 95.557983 m,
      bearing: 131.047774 deg,
      approach rate: -0.556715 m/s,
      LOS rate: 0.007457 deg/s,
      cmd heading: 119.980510 deg,
      new cmd heading: 119.988875 deg.

2025-08-21T06:46:53.244Z,1755758813.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094201 target range: 101.447891 and range: 102.00 m.
2025-08-21T06:46:53.272Z,1755758813.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738852
2025-08-21T06:46:53.525Z,1755758813.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991522
2025-08-21T06:46:53.661Z,1755758813.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.45 m.
2025-08-21T06:46:53.664Z,1755758813.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.447891 m,
      nav range: 95.323891 m,
      bearing: 131.050917 deg,
      approach rate: -0.557002 m/s,
      LOS rate: 0.007497 deg/s,
      cmd heading: 119.988870 deg,
      new cmd heading: 119.998323 deg.

2025-08-21T06:46:53.665Z,1755758813.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094366 target range: 101.447891 and range: 102.00 m.
2025-08-21T06:46:53.780Z,1755758813.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245994
2025-08-21T06:46:54.028Z,1755758814.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494755
2025-08-21T06:46:54.084Z,1755758814.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.45 m.
2025-08-21T06:46:54.087Z,1755758814.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.447891 m,
      nav range: 95.090660 m,
      bearing: 131.050149 deg,
      approach rate: -0.550982 m/s,
      LOS rate: -0.001818 deg/s,
      cmd heading: 119.998323 deg,
      new cmd heading: 119.996014 deg.

2025-08-21T06:46:54.088Z,1755758814.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094326 target range: 101.447891 and range: 102.00 m.
2025-08-21T06:46:54.280Z,1755758814.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746691
2025-08-21T06:46:54.458Z,1755758814.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:54.460Z,1755758814.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.45 m.
2025-08-21T06:46:54.462Z,1755758814.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.447891 m,
      nav range: 94.883240 m,
      bearing: 131.049363 deg,
      approach rate: -0.552154 m/s,
      LOS rate: -0.002096 deg/s,
      cmd heading: 119.996015 deg,
      new cmd heading: 119.993653 deg.

2025-08-21T06:46:54.464Z,1755758814.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094284 target range: 101.447891 and range: 102.00 m.
2025-08-21T06:46:54.534Z,1755758814.534 [DAT](INFO): DAT read: Rx Time:06:46:53.2124

2025-08-21T06:46:54.535Z,1755758814.535 [DAT](INFO): Rx dataTimestamp_ set to:1755758814.534155
2025-08-21T06:46:54.536Z,1755758814.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001803
2025-08-21T06:46:54.787Z,1755758814.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252767
2025-08-21T06:46:54.946Z,1755758814.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.45 m.
2025-08-21T06:46:54.957Z,1755758814.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.447891 m,
      nav range: 94.613884 m,
      bearing: 131.052621 deg,
      approach rate: -0.553827 m/s,
      LOS rate: 0.006717 deg/s,
      cmd heading: 119.993651 deg,
      new cmd heading: 120.003452 deg.

2025-08-21T06:46:54.958Z,1755758814.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094455 target range: 101.447891 and range: 102.00 m.
2025-08-21T06:46:55.045Z,1755758815.045 [DAT](INFO): DAT read: 06:46:53.2124 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 420,-0.11,-2.511, 1.909,-2.736,-3.023, PHS= 0.614,-1.306, 0.244, RAW= 139.5,   5.1, CAL= 139.3,   5.9, ROT=  10.7,  -5.9

2025-08-21T06:46:55.046Z,1755758815.046 [DAT](INFO): got valid direction response:
 06:46:53.2124 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 420,-0.11,-2.511, 1.909,-2.736,-3.023, PHS= 0.614,-1.306, 0.244, RAW= 139.5,   5.1, CAL= 139.3,   5.9, ROT=  10.7,  -5.9

2025-08-21T06:46:55.048Z,1755758815.048 [DAT](INFO): DAT read: Bearing 280.1,  22.5 (Local)

2025-08-21T06:46:55.049Z,1755758815.049 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.1,  22.5 (Local)

2025-08-21T06:46:55.057Z,1755758815.057 [DAT](INFO): DAT read: Range 11 to 50 : 100.1 m  (Round-trip  133.5 ms) speed  0.4 m/s

2025-08-21T06:46:55.058Z,1755758815.058 [DAT](INFO): DAT read: user:1894>

2025-08-21T06:46:55.059Z,1755758815.059 [DAT](INFO): DAT read: Tx time:06:46:54.3262

2025-08-21T06:46:55.060Z,1755758815.060 [DAT](INFO): Ping request sent.
2025-08-21T06:46:55.060Z,1755758815.060 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:55.060Z,1755758815.060 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:55.061Z,1755758815.061 [DAT](INFO): direction in FSK: [0.977408,0.184683,0.102793]
2025-08-21T06:46:55.061Z,1755758815.061 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:55.062Z,1755758815.062 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:55.078Z,1755758815.078 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:55.083Z,1755758815.083 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:55.292Z,1755758815.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 100.099998 m,
      deltaT: 3.528079 s,
      deltaX: -1.900002 m,
      approachRate: -0.538537 m/s,
      rangeRepo size: 4

2025-08-21T06:46:55.294Z,1755758815.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.558319 m,
      bearing: 130.588750 deg,
      lat: 36.779389 deg,
      lon: -121.859493 deg,
      deltaT: 3.528079 s,
      deltaX: -1.889572 m,
      approachRate: -0.535581 m/s,
      posRepo size: 4

2025-08-21T06:46:55.295Z,1755758815.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.56 m.
2025-08-21T06:46:55.301Z,1755758815.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.558319 m,
      nav range: 94.498993 m,
      bearing: 130.953066 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006717 deg/s,
      cmd heading: 120.003446 deg,
      new cmd heading: 120.010315 deg.

2025-08-21T06:46:55.302Z,1755758815.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094575 target range: 99.558319 and range: 100.10 m.
2025-08-21T06:46:55.667Z,1755758815.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.56 m.
2025-08-21T06:46:55.670Z,1755758815.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.558319 m,
      nav range: 94.276306 m,
      bearing: 130.955500 deg,
      approach rate: -0.586127 m/s,
      LOS rate: 0.006422 deg/s,
      cmd heading: 120.010317 deg,
      new cmd heading: 120.017637 deg.

2025-08-21T06:46:55.671Z,1755758815.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094703 target range: 99.558319 and range: 100.10 m.
2025-08-21T06:46:56.099Z,1755758816.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.56 m.
2025-08-21T06:46:56.102Z,1755758816.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.558319 m,
      nav range: 94.038712 m,
      bearing: 130.955976 deg,
      approach rate: -0.550379 m/s,
      LOS rate: 0.001106 deg/s,
      cmd heading: 120.017639 deg,
      new cmd heading: 120.019071 deg.

2025-08-21T06:46:56.102Z,1755758816.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094728 target range: 99.558319 and range: 100.10 m.
2025-08-21T06:46:56.540Z,1755758816.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:56.542Z,1755758816.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.56 m.
2025-08-21T06:46:56.544Z,1755758816.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.558319 m,
      nav range: 93.795227 m,
      bearing: 130.956426 deg,
      approach rate: -0.549870 m/s,
      LOS rate: 0.001020 deg/s,
      cmd heading: 120.019073 deg,
      new cmd heading: 120.020428 deg.

2025-08-21T06:46:56.545Z,1755758816.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094752 target range: 99.558319 and range: 100.10 m.
2025-08-21T06:46:56.548Z,1755758816.548 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:56.548Z,1755758816.548 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:56.549Z,1755758816.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:56.804Z,1755758816.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744108
2025-08-21T06:46:56.981Z,1755758816.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.56 m.
2025-08-21T06:46:56.987Z,1755758816.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.558319 m,
      nav range: 93.561150 m,
      bearing: 130.956898 deg,
      approach rate: -0.532958 m/s,
      LOS rate: 0.001076 deg/s,
      cmd heading: 120.020426 deg,
      new cmd heading: 120.021844 deg.

2025-08-21T06:46:56.989Z,1755758816.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094776 target range: 99.558319 and range: 100.10 m.
2025-08-21T06:46:57.053Z,1755758817.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993065
2025-08-21T06:46:57.136Z,1755758817.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:46:57.304Z,1755758817.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244357
2025-08-21T06:46:57.445Z,1755758817.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.56 m.
2025-08-21T06:46:57.448Z,1755758817.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.558319 m,
      nav range: 93.304497 m,
      bearing: 130.957293 deg,
      approach rate: -0.553205 m/s,
      LOS rate: 0.000855 deg/s,
      cmd heading: 120.021846 deg,
      new cmd heading: 120.023036 deg.

2025-08-21T06:46:57.449Z,1755758817.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094797 target range: 99.558319 and range: 100.10 m.
2025-08-21T06:46:57.557Z,1755758817.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497291
2025-08-21T06:46:57.811Z,1755758817.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750547
2025-08-21T06:46:57.948Z,1755758817.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.56 m.
2025-08-21T06:46:57.951Z,1755758817.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.558319 m,
      nav range: 93.026070 m,
      bearing: 130.956527 deg,
      approach rate: -0.553075 m/s,
      LOS rate: -0.001527 deg/s,
      cmd heading: 120.023035 deg,
      new cmd heading: 120.020729 deg.

2025-08-21T06:46:57.952Z,1755758817.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094757 target range: 99.558319 and range: 100.10 m.
2025-08-21T06:46:58.060Z,1755758818.060 [DAT](INFO): DAT read: Rx Time:06:46:56.8612

2025-08-21T06:46:58.061Z,1755758818.061 [DAT](INFO): Rx dataTimestamp_ set to:1755758818.060558
2025-08-21T06:46:58.061Z,1755758818.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001603
2025-08-21T06:46:58.140Z,1755758818.140 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:46:58.267Z,1755758818.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.56 m.
2025-08-21T06:46:58.270Z,1755758818.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.558319 m,
      nav range: 92.848946 m,
      bearing: 130.956037 deg,
      approach rate: -0.555331 m/s,
      LOS rate: -0.001539 deg/s,
      cmd heading: 120.020726 deg,
      new cmd heading: 120.019254 deg.

2025-08-21T06:46:58.271Z,1755758818.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094731 target range: 99.558319 and range: 100.10 m.
2025-08-21T06:46:58.313Z,1755758818.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252980
2025-08-21T06:46:58.582Z,1755758818.582 [DAT](INFO): DAT read: 06:46:56.8612 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 408,-0.05,-0.629,-2.520,-0.865,-1.156, PHS= 0.629,-1.319, 0.246, RAW= 139.3,   5.0, CAL= 139.2,   5.8, ROT=  10.8,  -5.8

2025-08-21T06:46:58.584Z,1755758818.584 [DAT](INFO): got valid direction response:
 06:46:56.8612 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 408,-0.05,-0.629,-2.520,-0.865,-1.156, PHS= 0.629,-1.319, 0.246, RAW= 139.3,   5.0, CAL= 139.2,   5.8, ROT=  10.8,  -5.8

2025-08-21T06:46:58.585Z,1755758818.585 [DAT](INFO): DAT read: Bearing 280.4,  22.6 (Local)

2025-08-21T06:46:58.585Z,1755758818.585 [DAT](INFO): Local bearing/azimuth received:
 Bearing 280.4,  22.6 (Local)

2025-08-21T06:46:58.586Z,1755758818.586 [DAT](INFO): DAT read: Range 11 to 50 : 98.1 m  (Round-trip  130.8 ms) speed  0.4 m/s

2025-08-21T06:46:58.587Z,1755758818.587 [DAT](INFO): DAT read: user:1895>

2025-08-21T06:46:58.588Z,1755758818.588 [DAT](INFO): DAT read: Tx time:06:46:57.9747

2025-08-21T06:46:58.588Z,1755758818.588 [DAT](INFO): Ping request sent.
2025-08-21T06:46:58.589Z,1755758818.589 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:46:58.589Z,1755758818.589 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:46:58.590Z,1755758818.590 [DAT](INFO): direction in FSK: [0.977259,0.186422,0.101056]
2025-08-21T06:46:58.590Z,1755758818.590 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:58.590Z,1755758818.590 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:58.594Z,1755758818.594 [DAT](INFO): publishing transmit ping time
2025-08-21T06:46:58.594Z,1755758818.594 [DAT](INFO): publishing direction and range info
2025-08-21T06:46:58.737Z,1755758818.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 98.099998 m,
      deltaT: 3.529558 s,
      deltaX: -2.000000 m,
      approachRate: -0.566643 m/s,
      rangeRepo size: 4

2025-08-21T06:46:58.748Z,1755758818.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 97.568771 m,
      bearing: 130.899643 deg,
      lat: 36.779388 deg,
      lon: -121.859487 deg,
      deltaT: 3.529558 s,
      deltaX: -1.989548 m,
      approachRate: -0.563682 m/s,
      posRepo size: 4

2025-08-21T06:46:58.748Z,1755758818.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.57 m.
2025-08-21T06:46:58.751Z,1755758818.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.568771 m,
      nav range: 93.039848 m,
      bearing: 130.795538 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001539 deg/s,
      cmd heading: 120.019251 deg,
      new cmd heading: 120.017083 deg.

2025-08-21T06:46:58.756Z,1755758818.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094693 target range: 97.568771 and range: 98.10 m.
2025-08-21T06:46:59.121Z,1755758819.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:46:59.123Z,1755758819.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.57 m.
2025-08-21T06:46:59.126Z,1755758819.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.568771 m,
      nav range: 92.808571 m,
      bearing: 130.796004 deg,
      approach rate: -0.598549 m/s,
      LOS rate: 0.001209 deg/s,
      cmd heading: 120.017079 deg,
      new cmd heading: 120.018480 deg.

2025-08-21T06:46:59.127Z,1755758819.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094718 target range: 97.568771 and range: 98.10 m.
2025-08-21T06:46:59.320Z,1755758819.320 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:46:59.320Z,1755758819.320 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:46:59.320Z,1755758819.320 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:46:59.525Z,1755758819.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.57 m.
2025-08-21T06:46:59.528Z,1755758819.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.568771 m,
      nav range: 92.590630 m,
      bearing: 130.796431 deg,
      approach rate: -0.542325 m/s,
      LOS rate: 0.001065 deg/s,
      cmd heading: 120.018486 deg,
      new cmd heading: 120.019770 deg.

2025-08-21T06:46:59.529Z,1755758819.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094740 target range: 97.568771 and range: 98.10 m.
2025-08-21T06:46:59.573Z,1755758819.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984703
2025-08-21T06:46:59.825Z,1755758819.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236870
2025-08-21T06:47:00.005Z,1755758820.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.57 m.
2025-08-21T06:47:00.016Z,1755758820.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.568771 m,
      nav range: 92.317429 m,
      bearing: 130.796159 deg,
      approach rate: -0.569081 m/s,
      LOS rate: -0.000569 deg/s,
      cmd heading: 120.019770 deg,
      new cmd heading: 120.018950 deg.

2025-08-21T06:47:00.024Z,1755758820.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094726 target range: 97.568771 and range: 98.10 m.
2025-08-21T06:47:00.078Z,1755758820.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488613
2025-08-21T06:47:00.328Z,1755758820.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739720
2025-08-21T06:47:00.452Z,1755758820.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.57 m.
2025-08-21T06:47:00.457Z,1755758820.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.568771 m,
      nav range: 92.054855 m,
      bearing: 130.795571 deg,
      approach rate: -0.587164 m/s,
      LOS rate: -0.001319 deg/s,
      cmd heading: 120.018950 deg,
      new cmd heading: 120.017181 deg.

2025-08-21T06:47:00.460Z,1755758820.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094695 target range: 97.568771 and range: 98.10 m.
2025-08-21T06:47:00.580Z,1755758820.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991925
2025-08-21T06:47:00.788Z,1755758820.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.57 m.
2025-08-21T06:47:00.791Z,1755758820.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.568771 m,
      nav range: 91.852051 m,
      bearing: 130.794975 deg,
      approach rate: -0.603635 m/s,
      LOS rate: -0.001776 deg/s,
      cmd heading: 120.017188 deg,
      new cmd heading: 120.015398 deg.

2025-08-21T06:47:00.792Z,1755758820.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094664 target range: 97.568771 and range: 98.10 m.
2025-08-21T06:47:00.832Z,1755758820.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243772
2025-08-21T06:47:01.087Z,1755758821.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498037
2025-08-21T06:47:01.250Z,1755758821.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:01.252Z,1755758821.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.57 m.
2025-08-21T06:47:01.255Z,1755758821.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.568771 m,
      nav range: 91.579163 m,
      bearing: 130.801763 deg,
      approach rate: -0.588165 m/s,
      LOS rate: 0.014673 deg/s,
      cmd heading: 120.015399 deg,
      new cmd heading: 120.035823 deg.

2025-08-21T06:47:01.256Z,1755758821.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.095020 target range: 97.568771 and range: 98.10 m.
2025-08-21T06:47:01.336Z,1755758821.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747926
2025-08-21T06:47:01.588Z,1755758821.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999686
2025-08-21T06:47:01.646Z,1755758821.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.57 m.
2025-08-21T06:47:01.649Z,1755758821.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.568771 m,
      nav range: 91.346588 m,
      bearing: 130.807515 deg,
      approach rate: -0.590376 m/s,
      LOS rate: 0.014638 deg/s,
      cmd heading: 120.035821 deg,
      new cmd heading: 120.053120 deg.

2025-08-21T06:47:01.650Z,1755758821.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.095322 target range: 97.568771 and range: 98.10 m.
2025-08-21T06:47:01.840Z,1755758821.840 [DAT](INFO): DAT read: Rx Time:06:47:00.5069

2025-08-21T06:47:01.841Z,1755758821.841 [DAT](INFO): Rx dataTimestamp_ set to:1755758821.840343
2025-08-21T06:47:01.841Z,1755758821.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252619
2025-08-21T06:47:02.092Z,1755758822.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503760
2025-08-21T06:47:02.096Z,1755758822.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.57 m.
2025-08-21T06:47:02.098Z,1755758822.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.568771 m,
      nav range: 91.095848 m,
      bearing: 130.814759 deg,
      approach rate: -0.557502 m/s,
      LOS rate: 0.016150 deg/s,
      cmd heading: 120.053115 deg,
      new cmd heading: 120.074906 deg.

2025-08-21T06:47:02.104Z,1755758822.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.095702 target range: 97.568771 and range: 98.10 m.
2025-08-21T06:47:02.350Z,1755758822.350 [DAT](INFO): DAT read: 06:47:00.5068 LVL= 30992, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.27,-0.079,-2.017,-0.340,-0.611, PHS= 0.634,-1.361, 0.227, RAW= 138.9,   5.5, CAL= 138.7,   6.3, ROT=  11.3,  -6.3

2025-08-21T06:47:02.351Z,1755758822.351 [DAT](INFO): got valid direction response:
 06:47:00.5068 LVL= 30992, 32753, 32754, 32755, AGC= 71, IDX= 412,-0.27,-0.079,-2.017,-0.340,-0.611, PHS= 0.634,-1.361, 0.227, RAW= 138.9,   5.5, CAL= 138.7,   6.3, ROT=  11.3,  -6.3

2025-08-21T06:47:02.352Z,1755758822.352 [DAT](INFO): DAT read: Bearing 281.4,  22.5 (Local)

2025-08-21T06:47:02.352Z,1755758822.352 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.4,  22.5 (Local)

2025-08-21T06:47:02.354Z,1755758822.354 [DAT](INFO): DAT read: Range 11 to 50 : 96.0 m  (Round-trip  128.1 ms) speed  0.6 m/s

2025-08-21T06:47:02.354Z,1755758822.354 [DAT](INFO): DAT read: user:1896>

2025-08-21T06:47:02.355Z,1755758822.355 [DAT](INFO): DAT read: Tx time:06:47:01.6246

2025-08-21T06:47:02.355Z,1755758822.355 [DAT](INFO): Ping request sent.
2025-08-21T06:47:02.356Z,1755758822.356 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:02.356Z,1755758822.356 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:02.357Z,1755758822.357 [DAT](INFO): direction in FSK: [0.974693,0.194763,0.109734]
2025-08-21T06:47:02.357Z,1755758822.357 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:02.357Z,1755758822.357 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:02.361Z,1755758822.361 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:02.361Z,1755758822.361 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:02.564Z,1755758822.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.000000 m,
      deltaT: 3.777973 s,
      deltaX: -2.099998 m,
      approachRate: -0.555853 m/s,
      rangeRepo size: 4

2025-08-21T06:47:02.566Z,1755758822.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.480240 m,
      bearing: 131.751850 deg,
      lat: 36.779386 deg,
      lon: -121.859487 deg,
      deltaT: 3.777973 s,
      deltaX: -2.088531 m,
      approachRate: -0.552818 m/s,
      posRepo size: 4

2025-08-21T06:47:02.571Z,1755758822.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.48 m.
2025-08-21T06:47:02.574Z,1755758822.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.480240 m,
      nav range: 90.970108 m,
      bearing: 130.928700 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016150 deg/s,
      cmd heading: 120.074903 deg,
      new cmd heading: 120.097581 deg.

2025-08-21T06:47:02.575Z,1755758822.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096098 target range: 95.480240 and range: 96.00 m.
2025-08-21T06:47:02.000Z,1755758823.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.48 m.
2025-08-21T06:47:03.002Z,1755758823.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.480240 m,
      nav range: 90.703781 m,
      bearing: 130.939225 deg,
      approach rate: -0.611499 m/s,
      LOS rate: 0.024238 deg/s,
      cmd heading: 120.097579 deg,
      new cmd heading: 120.129249 deg.

2025-08-21T06:47:03.019Z,1755758823.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096651 target range: 95.480240 and range: 96.00 m.
2025-08-21T06:47:03.314Z,1755758823.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:03.316Z,1755758823.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.48 m.
2025-08-21T06:47:03.318Z,1755758823.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.480240 m,
      nav range: 90.517593 m,
      bearing: 130.946556 deg,
      approach rate: -0.588204 m/s,
      LOS rate: 0.023208 deg/s,
      cmd heading: 120.129244 deg,
      new cmd heading: 120.151283 deg.

2025-08-21T06:47:03.320Z,1755758823.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.097035 target range: 95.480240 and range: 96.00 m.
2025-08-21T06:47:03.353Z,1755758823.353 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:03.353Z,1755758823.353 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:03.353Z,1755758823.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:03.604Z,1755758823.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248586
2025-08-21T06:47:03.737Z,1755758823.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.48 m.
2025-08-21T06:47:03.740Z,1755758823.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.480240 m,
      nav range: 90.268570 m,
      bearing: 130.956347 deg,
      approach rate: -0.591531 m/s,
      LOS rate: 0.023321 deg/s,
      cmd heading: 120.151278 deg,
      new cmd heading: 120.180732 deg.

2025-08-21T06:47:03.741Z,1755758823.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.097549 target range: 95.480240 and range: 96.00 m.
2025-08-21T06:47:03.857Z,1755758823.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501174
2025-08-21T06:47:04.108Z,1755758824.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752515
2025-08-21T06:47:04.182Z,1755758824.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.48 m.
2025-08-21T06:47:04.185Z,1755758824.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.480240 m,
      nav range: 90.013573 m,
      bearing: 130.962458 deg,
      approach rate: -0.573274 m/s,
      LOS rate: 0.013776 deg/s,
      cmd heading: 120.180730 deg,
      new cmd heading: 120.199114 deg.

2025-08-21T06:47:04.185Z,1755758824.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.097870 target range: 95.480240 and range: 96.00 m.
2025-08-21T06:47:04.360Z,1755758824.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004531
2025-08-21T06:47:04.612Z,1755758824.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256766
2025-08-21T06:47:04.692Z,1755758824.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.48 m.
2025-08-21T06:47:04.695Z,1755758824.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.480240 m,
      nav range: 89.730019 m,
      bearing: 130.969149 deg,
      approach rate: -0.555406 m/s,
      LOS rate: 0.013148 deg/s,
      cmd heading: 120.199117 deg,
      new cmd heading: 120.219254 deg.

2025-08-21T06:47:04.704Z,1755758824.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098222 target range: 95.480240 and range: 96.00 m.
2025-08-21T06:47:04.864Z,1755758824.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508519
2025-08-21T06:47:05.118Z,1755758825.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761987
2025-08-21T06:47:05.239Z,1755758825.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.48 m.
2025-08-21T06:47:05.242Z,1755758825.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.480240 m,
      nav range: 89.418556 m,
      bearing: 130.976967 deg,
      approach rate: -0.569454 m/s,
      LOS rate: 0.014343 deg/s,
      cmd heading: 120.219252 deg,
      new cmd heading: 120.242787 deg.

2025-08-21T06:47:05.243Z,1755758825.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098633 target range: 95.480240 and range: 96.00 m.
2025-08-21T06:47:05.368Z,1755758825.368 [DAT](INFO): DAT read: Rx Time:06:47:04.1540

2025-08-21T06:47:05.369Z,1755758825.369 [DAT](INFO): Rx dataTimestamp_ set to:1755758825.368477
2025-08-21T06:47:05.369Z,1755758825.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013681
2025-08-21T06:47:05.582Z,1755758825.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:05.584Z,1755758825.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.48 m.
2025-08-21T06:47:05.587Z,1755758825.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.480240 m,
      nav range: 89.211258 m,
      bearing: 130.982156 deg,
      approach rate: -0.600520 m/s,
      LOS rate: 0.015068 deg/s,
      cmd heading: 120.242789 deg,
      new cmd heading: 120.258393 deg.

2025-08-21T06:47:05.604Z,1755758825.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098905 target range: 95.480240 and range: 96.00 m.
2025-08-21T06:47:05.620Z,1755758825.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264669
2025-08-21T06:47:05.881Z,1755758825.881 [DAT](INFO): DAT read: 06:47:04.1540 LVL= 30832, 32753, 32754, 32755, AGC= 65, IDX= 415,-0.18, 0.013,-1.910,-0.229,-0.504, PHS= 0.619,-1.361, 0.231, RAW= 139.4,   5.7, CAL= 139.1,   6.5, ROT=  10.9,  -6.5

2025-08-21T06:47:05.882Z,1755758825.882 [DAT](INFO): got valid direction response:
 06:47:04.1540 LVL= 30832, 32753, 32754, 32755, AGC= 65, IDX= 415,-0.18, 0.013,-1.910,-0.229,-0.504, PHS= 0.619,-1.361, 0.231, RAW= 139.4,   5.7, CAL= 139.1,   6.5, ROT=  10.9,  -6.5

2025-08-21T06:47:05.883Z,1755758825.883 [DAT](INFO): DAT read: Bearing 281.5,  21.5 (Local)

2025-08-21T06:47:05.884Z,1755758825.884 [DAT](INFO): Local bearing/azimuth received:
 Bearing 281.5,  21.5 (Local)

2025-08-21T06:47:05.885Z,1755758825.885 [DAT](INFO): DAT read: Range 11 to 50 : 93.9 m  (Round-trip  125.2 ms) speed  0.4 m/s

2025-08-21T06:47:05.887Z,1755758825.887 [DAT](INFO): DAT read: user:1897>

2025-08-21T06:47:05.892Z,1755758825.892 [DAT](INFO): DAT read: Tx time:06:47:05.2746

2025-08-21T06:47:05.893Z,1755758825.893 [DAT](INFO): Ping request sent.
2025-08-21T06:47:05.893Z,1755758825.893 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:05.893Z,1755758825.893 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:05.894Z,1755758825.894 [DAT](INFO): direction in FSK: [0.975647,0.187880,0.113203]
2025-08-21T06:47:05.894Z,1755758825.894 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:05.895Z,1755758825.895 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:05.904Z,1755758825.904 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:05.904Z,1755758825.904 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:06.119Z,1755758826.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 93.900002 m,
      deltaT: 3.527987 s,
      deltaX: -2.099998 m,
      approachRate: -0.595240 m/s,
      rangeRepo size: 4

2025-08-21T06:47:06.126Z,1755758826.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.391632 m,
      bearing: 131.528738 deg,
      lat: 36.779386 deg,
      lon: -121.859487 deg,
      deltaT: 3.527987 s,
      deltaX: -2.088608 m,
      approachRate: -0.592011 m/s,
      posRepo size: 4

2025-08-21T06:47:06.131Z,1755758826.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.39 m.
2025-08-21T06:47:06.147Z,1755758826.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.391632 m,
      nav range: 88.926468 m,
      bearing: 130.987609 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015068 deg/s,
      cmd heading: 120.258389 deg,
      new cmd heading: 120.282523 deg.

2025-08-21T06:47:06.149Z,1755758826.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099326 target range: 93.391632 and range: 93.90 m.
2025-08-21T06:47:06.504Z,1755758826.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.39 m.
2025-08-21T06:47:06.506Z,1755758826.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.391632 m,
      nav range: 88.702484 m,
      bearing: 130.992017 deg,
      approach rate: -0.580798 m/s,
      LOS rate: 0.011459 deg/s,
      cmd heading: 120.282527 deg,
      new cmd heading: 120.295785 deg.

2025-08-21T06:47:06.508Z,1755758826.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099558 target range: 93.391632 and range: 93.90 m.
2025-08-21T06:47:06.914Z,1755758826.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.39 m.
2025-08-21T06:47:06.920Z,1755758826.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.391632 m,
      nav range: 88.477776 m,
      bearing: 130.996522 deg,
      approach rate: -0.548957 m/s,
      LOS rate: 0.011032 deg/s,
      cmd heading: 120.295792 deg,
      new cmd heading: 120.309339 deg.

2025-08-21T06:47:06.921Z,1755758826.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099794 target range: 93.391632 and range: 93.90 m.
2025-08-21T06:47:07.343Z,1755758827.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.39 m.
2025-08-21T06:47:07.346Z,1755758827.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.391632 m,
      nav range: 88.233276 m,
      bearing: 130.999245 deg,
      approach rate: -0.568771 m/s,
      LOS rate: 0.006354 deg/s,
      cmd heading: 120.309343 deg,
      new cmd heading: 120.317536 deg.

2025-08-21T06:47:07.347Z,1755758827.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099937 target range: 93.391632 and range: 93.90 m.
2025-08-21T06:47:07.717Z,1755758827.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:07.722Z,1755758827.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.39 m.
2025-08-21T06:47:07.728Z,1755758827.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.391632 m,
      nav range: 88.018478 m,
      bearing: 131.001629 deg,
      approach rate: -0.570807 m/s,
      LOS rate: 0.006349 deg/s,
      cmd heading: 120.317539 deg,
      new cmd heading: 120.324707 deg.

2025-08-21T06:47:07.729Z,1755758827.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.100062 target range: 93.391632 and range: 93.90 m.
2025-08-21T06:47:07.889Z,1755758827.889 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:07.890Z,1755758827.890 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:07.891Z,1755758827.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:08.142Z,1755758828.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248678
2025-08-21T06:47:08.190Z,1755758828.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.39 m.
2025-08-21T06:47:08.197Z,1755758828.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.391632 m,
      nav range: 87.765144 m,
      bearing: 130.999970 deg,
      approach rate: -0.538228 m/s,
      LOS rate: -0.003534 deg/s,
      cmd heading: 120.324711 deg,
      new cmd heading: 120.319720 deg.

2025-08-21T06:47:08.198Z,1755758828.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099975 target range: 93.391632 and range: 93.90 m.
2025-08-21T06:47:08.392Z,1755758828.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499367
2025-08-21T06:47:08.520Z,1755758828.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.39 m.
2025-08-21T06:47:08.523Z,1755758828.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.391632 m,
      nav range: 87.569000 m,
      bearing: 130.998737 deg,
      approach rate: -0.594142 m/s,
      LOS rate: -0.003743 deg/s,
      cmd heading: 120.319724 deg,
      new cmd heading: 120.316017 deg.

2025-08-21T06:47:08.536Z,1755758828.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099911 target range: 93.391632 and range: 93.90 m.
2025-08-21T06:47:08.645Z,1755758828.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751712
2025-08-21T06:47:08.897Z,1755758828.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003703
2025-08-21T06:47:08.921Z,1755758828.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.39 m.
2025-08-21T06:47:08.926Z,1755758828.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.391632 m,
      nav range: 87.343918 m,
      bearing: 130.997396 deg,
      approach rate: -0.561301 m/s,
      LOS rate: -0.003353 deg/s,
      cmd heading: 120.316023 deg,
      new cmd heading: 120.311989 deg.

2025-08-21T06:47:08.930Z,1755758828.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099840 target range: 93.391632 and range: 93.90 m.
2025-08-21T06:47:09.150Z,1755758829.150 [DAT](INFO): DAT read: Rx Time:06:47:07.8013

2025-08-21T06:47:09.150Z,1755758829.150 [DAT](INFO): Rx dataTimestamp_ set to:1755758829.149859
2025-08-21T06:47:09.151Z,1755758829.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258135
2025-08-21T06:47:09.373Z,1755758829.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.39 m.
2025-08-21T06:47:09.380Z,1755758829.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.391632 m,
      nav range: 87.095078 m,
      bearing: 130.995823 deg,
      approach rate: -0.550757 m/s,
      LOS rate: -0.003492 deg/s,
      cmd heading: 120.311993 deg,
      new cmd heading: 120.307260 deg.

2025-08-21T06:47:09.381Z,1755758829.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099758 target range: 93.391632 and range: 93.90 m.
2025-08-21T06:47:09.400Z,1755758829.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507569
2025-08-21T06:47:09.658Z,1755758829.658 [DAT](INFO): DAT read: 06:47:07.8013 LVL= 29664, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.09,-2.765, 1.560,-2.999, 3.011, PHS= 0.609,-1.406, 0.229, RAW= 139.8,   6.2, CAL= 139.5,   7.0, ROT=  10.5,  -7.0

2025-08-21T06:47:09.660Z,1755758829.660 [DAT](INFO): got valid direction response:
 06:47:07.8013 LVL= 29664, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.09,-2.765, 1.560,-2.999, 3.011, PHS= 0.609,-1.406, 0.229, RAW= 139.8,   6.2, CAL= 139.5,   7.0, ROT=  10.5,  -7.0

2025-08-21T06:47:09.661Z,1755758829.661 [DAT](INFO): DAT read: Bearing 282.0,  20.1 (Local)

2025-08-21T06:47:09.661Z,1755758829.661 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.0,  20.1 (Local)

2025-08-21T06:47:09.663Z,1755758829.663 [DAT](INFO): DAT read: Range 11 to 50 : 91.9 m  (Round-trip  122.6 ms) speed  0.5 m/s

2025-08-21T06:47:09.663Z,1755758829.663 [DAT](INFO): DAT read: user:1898>

2025-08-21T06:47:09.664Z,1755758829.664 [DAT](INFO): DAT read: Tx time:06:47:08.9246

2025-08-21T06:47:09.665Z,1755758829.665 [DAT](INFO): Ping request sent.
2025-08-21T06:47:09.665Z,1755758829.665 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:09.665Z,1755758829.665 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:09.666Z,1755758829.666 [DAT](INFO): direction in FSK: [0.975926,0.180877,0.121869]
2025-08-21T06:47:09.666Z,1755758829.666 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:09.666Z,1755758829.666 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:09.670Z,1755758829.670 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:09.670Z,1755758829.670 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:09.788Z,1755758829.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.900002 m,
      deltaT: 3.780292 s,
      deltaX: -2.000000 m,
      approachRate: -0.529060 m/s,
      rangeRepo size: 4

2025-08-21T06:47:09.790Z,1755758829.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.402252 m,
      bearing: 130.935982 deg,
      lat: 36.779382 deg,
      lon: -121.859487 deg,
      deltaT: 3.780292 s,
      deltaX: -1.989380 m,
      approachRate: -0.526250 m/s,
      posRepo size: 4

2025-08-21T06:47:09.791Z,1755758829.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.40 m.
2025-08-21T06:47:09.797Z,1755758829.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.402252 m,
      nav range: 87.181633 m,
      bearing: 131.229545 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003492 deg/s,
      cmd heading: 120.307266 deg,
      new cmd heading: 120.302971 deg.

2025-08-21T06:47:09.798Z,1755758829.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099683 target range: 91.402252 and range: 91.90 m.
2025-08-21T06:47:10.162Z,1755758830.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:10.166Z,1755758830.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.40 m.
2025-08-21T06:47:10.190Z,1755758830.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.402252 m,
      nav range: 86.952179 m,
      bearing: 131.227083 deg,
      approach rate: -0.599591 m/s,
      LOS rate: -0.006450 deg/s,
      cmd heading: 120.302977 deg,
      new cmd heading: 120.295572 deg.

2025-08-21T06:47:10.191Z,1755758830.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099554 target range: 91.402252 and range: 91.90 m.
2025-08-21T06:47:10.408Z,1755758830.408 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:10.408Z,1755758830.408 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:10.409Z,1755758830.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:10.544Z,1755758830.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.40 m.
2025-08-21T06:47:10.546Z,1755758830.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.402252 m,
      nav range: 86.735252 m,
      bearing: 131.224723 deg,
      approach rate: -0.574433 m/s,
      LOS rate: -0.006264 deg/s,
      cmd heading: 120.295573 deg,
      new cmd heading: 120.288476 deg.

2025-08-21T06:47:10.547Z,1755758830.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099430 target range: 91.402252 and range: 91.90 m.
2025-08-21T06:47:10.660Z,1755758830.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995722
2025-08-21T06:47:10.912Z,1755758830.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247643
2025-08-21T06:47:10.970Z,1755758830.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.40 m.
2025-08-21T06:47:10.976Z,1755758830.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.402252 m,
      nav range: 86.496819 m,
      bearing: 131.222072 deg,
      approach rate: -0.559996 m/s,
      LOS rate: -0.006243 deg/s,
      cmd heading: 120.288470 deg,
      new cmd heading: 120.280495 deg.

2025-08-21T06:47:10.977Z,1755758830.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099291 target range: 91.402252 and range: 91.90 m.
2025-08-21T06:47:11.165Z,1755758831.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500645
2025-08-21T06:47:11.363Z,1755758831.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.40 m.
2025-08-21T06:47:11.365Z,1755758831.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.402252 m,
      nav range: 86.269661 m,
      bearing: 131.220860 deg,
      approach rate: -0.577527 m/s,
      LOS rate: -0.003089 deg/s,
      cmd heading: 120.280492 deg,
      new cmd heading: 120.276846 deg.

2025-08-21T06:47:11.366Z,1755758831.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099227 target range: 91.402252 and range: 91.90 m.
2025-08-21T06:47:11.418Z,1755758831.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753248
2025-08-21T06:47:11.668Z,1755758831.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003548
2025-08-21T06:47:11.756Z,1755758831.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.40 m.
2025-08-21T06:47:11.758Z,1755758831.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.402252 m,
      nav range: 86.044083 m,
      bearing: 131.219633 deg,
      approach rate: -0.574118 m/s,
      LOS rate: -0.003131 deg/s,
      cmd heading: 120.276845 deg,
      new cmd heading: 120.273154 deg.

2025-08-21T06:47:11.759Z,1755758831.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099163 target range: 91.402252 and range: 91.90 m.
2025-08-21T06:47:11.922Z,1755758831.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256749
2025-08-21T06:47:12.174Z,1755758832.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508847
2025-08-21T06:47:12.207Z,1755758832.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:12.210Z,1755758832.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.40 m.
2025-08-21T06:47:12.216Z,1755758832.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.402252 m,
      nav range: 85.795036 m,
      bearing: 131.215025 deg,
      approach rate: -0.548443 m/s,
      LOS rate: -0.010177 deg/s,
      cmd heading: 120.273156 deg,
      new cmd heading: 120.259292 deg.

2025-08-21T06:47:12.217Z,1755758832.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098921 target range: 91.402252 and range: 91.90 m.
2025-08-21T06:47:12.425Z,1755758832.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760436
2025-08-21T06:47:12.597Z,1755758832.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.40 m.
2025-08-21T06:47:12.600Z,1755758832.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.402252 m,
      nav range: 85.560722 m,
      bearing: 131.210598 deg,
      approach rate: -0.604781 m/s,
      LOS rate: -0.011457 deg/s,
      cmd heading: 120.259291 deg,
      new cmd heading: 120.245974 deg.

2025-08-21T06:47:12.601Z,1755758832.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098688 target range: 91.402252 and range: 91.90 m.
2025-08-21T06:47:12.677Z,1755758832.677 [DAT](INFO): DAT read: Rx Time:06:47:11.4484

2025-08-21T06:47:12.678Z,1755758832.678 [DAT](INFO): Rx dataTimestamp_ set to:1755758832.677790
2025-08-21T06:47:12.679Z,1755758832.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014156
2025-08-21T06:47:12.929Z,1755758832.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264337
2025-08-21T06:47:13.062Z,1755758833.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.40 m.
2025-08-21T06:47:13.084Z,1755758833.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.402252 m,
      nav range: 85.317734 m,
      bearing: 131.205982 deg,
      approach rate: -0.523796 m/s,
      LOS rate: -0.009980 deg/s,
      cmd heading: 120.245972 deg,
      new cmd heading: 120.232083 deg.

2025-08-21T06:47:13.085Z,1755758833.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098446 target range: 91.402252 and range: 91.90 m.
2025-08-21T06:47:13.188Z,1755758833.188 [DAT](INFO): DAT read: 06:47:11.4484 LVL= 30176, 32753, 32754, 32755, AGC= 66, IDX= 406, 0.10,-0.894,-2.828,-1.127,-1.405, PHS= 0.613,-1.377, 0.234, RAW= 139.7,   5.8, CAL= 139.4,   6.6, ROT=  10.6,  -6.6

2025-08-21T06:47:13.189Z,1755758833.189 [DAT](INFO): got valid direction response:
 06:47:11.4484 LVL= 30176, 32753, 32754, 32755, AGC= 66, IDX= 406, 0.10,-0.894,-2.828,-1.127,-1.405, PHS= 0.613,-1.377, 0.234, RAW= 139.7,   5.8, CAL= 139.4,   6.6, ROT=  10.6,  -6.6

2025-08-21T06:47:13.189Z,1755758833.189 [DAT](INFO): DAT read: Bearing 19.0 (Local)

2025-08-21T06:47:13.190Z,1755758833.190 [DAT](INFO): Local bearing/azimuth received:
 Bearing 19.0 (Local)

2025-08-21T06:47:13.191Z,1755758833.191 [DAT](INFO): DAT read: Range 11 to 50 : 89.7 m  (Round-trip  119.7 ms) speed  0.4 m/s

2025-08-21T06:47:13.192Z,1755758833.192 [DAT](INFO): DAT read: user:1899>

2025-08-21T06:47:13.193Z,1755758833.193 [DAT](INFO): DAT read: Tx time:06:47:12.5746

2025-08-21T06:47:13.193Z,1755758833.193 [DAT](INFO): Ping request sent.
2025-08-21T06:47:13.193Z,1755758833.193 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:13.193Z,1755758833.193 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:13.194Z,1755758833.194 [DAT](INFO): direction in FSK: [0.976421,0.182732,0.114937]
2025-08-21T06:47:13.195Z,1755758833.195 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:13.195Z,1755758833.195 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:13.210Z,1755758833.210 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:13.210Z,1755758833.210 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:13.548Z,1755758833.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.699997 m,
      deltaT: 3.529344 s,
      deltaX: -2.200005 m,
      approachRate: -0.623347 m/s,
      rangeRepo size: 4

2025-08-21T06:47:13.550Z,1755758833.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.213257 m,
      bearing: 131.077780 deg,
      lat: 36.779378 deg,
      lon: -121.859487 deg,
      deltaT: 3.529344 s,
      deltaX: -2.188995 m,
      approachRate: -0.620227 m/s,
      posRepo size: 4

2025-08-21T06:47:13.551Z,1755758833.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.21 m.
2025-08-21T06:47:13.570Z,1755758833.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.213257 m,
      nav range: 85.350151 m,
      bearing: 131.464683 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009980 deg/s,
      cmd heading: 120.232080 deg,
      new cmd heading: 120.217516 deg.

2025-08-21T06:47:13.570Z,1755758833.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098191 target range: 89.213257 and range: 89.70 m.
2025-08-21T06:47:13.933Z,1755758833.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.21 m.
2025-08-21T06:47:13.940Z,1755758833.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.213257 m,
      nav range: 85.128181 m,
      bearing: 131.466337 deg,
      approach rate: -0.576494 m/s,
      LOS rate: 0.004307 deg/s,
      cmd heading: 120.217518 deg,
      new cmd heading: 120.222493 deg.

2025-08-21T06:47:13.942Z,1755758833.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098278 target range: 89.213257 and range: 89.70 m.
2025-08-21T06:47:14.348Z,1755758834.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:14.350Z,1755758834.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.21 m.
2025-08-21T06:47:14.353Z,1755758834.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.213257 m,
      nav range: 84.887474 m,
      bearing: 131.468301 deg,
      approach rate: -0.576274 m/s,
      LOS rate: 0.004716 deg/s,
      cmd heading: 120.222490 deg,
      new cmd heading: 120.228400 deg.

2025-08-21T06:47:14.354Z,1755758834.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098382 target range: 89.213257 and range: 89.70 m.
2025-08-21T06:47:14.441Z,1755758834.441 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:14.441Z,1755758834.441 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:14.441Z,1755758834.441 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:14.692Z,1755758834.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499192
2025-08-21T06:47:14.809Z,1755758834.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.21 m.
2025-08-21T06:47:14.812Z,1755758834.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.213257 m,
      nav range: 84.634300 m,
      bearing: 131.470130 deg,
      approach rate: -0.551944 m/s,
      LOS rate: 0.003998 deg/s,
      cmd heading: 120.228405 deg,
      new cmd heading: 120.233907 deg.

2025-08-21T06:47:14.813Z,1755758834.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098478 target range: 89.213257 and range: 89.70 m.
2025-08-21T06:47:14.944Z,1755758834.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751074
2025-08-21T06:47:15.196Z,1755758835.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003227
2025-08-21T06:47:15.230Z,1755758835.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.21 m.
2025-08-21T06:47:15.237Z,1755758835.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.213257 m,
      nav range: 84.385490 m,
      bearing: 131.477703 deg,
      approach rate: -0.590020 m/s,
      LOS rate: 0.018011 deg/s,
      cmd heading: 120.233910 deg,
      new cmd heading: 120.256695 deg.

2025-08-21T06:47:15.238Z,1755758835.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098875 target range: 89.213257 and range: 89.70 m.
2025-08-21T06:47:15.449Z,1755758835.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255689
2025-08-21T06:47:15.592Z,1755758835.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.21 m.
2025-08-21T06:47:15.595Z,1755758835.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.213257 m,
      nav range: 84.165222 m,
      bearing: 131.484480 deg,
      approach rate: -0.609215 m/s,
      LOS rate: 0.018793 deg/s,
      cmd heading: 120.256696 deg,
      new cmd heading: 120.277080 deg.

2025-08-21T06:47:15.596Z,1755758835.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099231 target range: 89.213257 and range: 89.70 m.
2025-08-21T06:47:15.700Z,1755758835.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507168
2025-08-21T06:47:15.954Z,1755758835.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760531
2025-08-21T06:47:16.090Z,1755758836.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.21 m.
2025-08-21T06:47:16.148Z,1755758836.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.213257 m,
      nav range: 83.879074 m,
      bearing: 131.493242 deg,
      approach rate: -0.579444 m/s,
      LOS rate: 0.017804 deg/s,
      cmd heading: 120.277077 deg,
      new cmd heading: 120.303453 deg.

2025-08-21T06:47:16.149Z,1755758836.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099691 target range: 89.213257 and range: 89.70 m.
2025-08-21T06:47:16.204Z,1755758836.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011066
2025-08-21T06:47:16.456Z,1755758836.456 [DAT](INFO): DAT read: Rx Time:06:47:15.0956

2025-08-21T06:47:16.457Z,1755758836.457 [DAT](INFO): Rx dataTimestamp_ set to:1755758836.456489
2025-08-21T06:47:16.457Z,1755758836.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264226
2025-08-21T06:47:16.563Z,1755758836.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:16.565Z,1755758836.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.21 m.
2025-08-21T06:47:16.568Z,1755758836.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.213257 m,
      nav range: 83.592072 m,
      bearing: 131.501995 deg,
      approach rate: -0.599158 m/s,
      LOS rate: 0.018337 deg/s,
      cmd heading: 120.303455 deg,
      new cmd heading: 120.329805 deg.

2025-08-21T06:47:16.569Z,1755758836.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.100151 target range: 89.213257 and range: 89.70 m.
2025-08-21T06:47:16.708Z,1755758836.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515106
2025-08-21T06:47:16.972Z,1755758836.972 [DAT](INFO): DAT read: 06:47:15.0956 LVL= 30704, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.17,-2.118, 2.189,-2.377,-2.634, PHS= 0.618,-1.415, 0.213, RAW= 139.1,   6.3, CAL= 138.9,   7.1, ROT=  11.1,  -7.1

2025-08-21T06:47:16.973Z,1755758836.973 [DAT](INFO): got valid direction response:
 06:47:15.0956 LVL= 30704, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.17,-2.118, 2.189,-2.377,-2.634, PHS= 0.618,-1.415, 0.213, RAW= 139.1,   6.3, CAL= 138.9,   7.1, ROT=  11.1,  -7.1

2025-08-21T06:47:16.975Z,1755758836.975 [DAT](INFO): DAT read: Bearing 282.1,  18.7 (Local)

2025-08-21T06:47:16.976Z,1755758836.976 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.1,  18.7 (Local)

2025-08-21T06:47:16.978Z,1755758836.978 [DAT](INFO): DAT read: Range 11 to 50 : 87.6 m  (Round-trip  116.8 ms) speed  0.4 m/s

2025-08-21T06:47:16.979Z,1755758836.979 [DAT](INFO): DAT read: user:1900>

2025-08-21T06:47:16.979Z,1755758836.979 [DAT](INFO): DAT read: Tx time:06:47:16.2246

2025-08-21T06:47:16.980Z,1755758836.980 [DAT](INFO): Ping request sent.
2025-08-21T06:47:16.980Z,1755758836.980 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:16.980Z,1755758836.980 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:16.981Z,1755758836.981 [DAT](INFO): direction in FSK: [0.973768,0.191046,0.123601]
2025-08-21T06:47:16.981Z,1755758836.981 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:16.982Z,1755758836.982 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:17.033Z,1755758837.033 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:17.033Z,1755758837.033 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:17.187Z,1755758837.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.599998 m,
      deltaT: 3.780652 s,
      deltaX: -2.099998 m,
      approachRate: -0.555459 m/s,
      rangeRepo size: 4

2025-08-21T06:47:17.189Z,1755758837.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.123413 m,
      bearing: 131.685019 deg,
      lat: 36.779376 deg,
      lon: -121.859480 deg,
      deltaT: 3.780652 s,
      deltaX: -2.089844 m,
      approachRate: -0.552773 m/s,
      posRepo size: 4

2025-08-21T06:47:17.190Z,1755758837.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m.
2025-08-21T06:47:17.201Z,1755758837.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.123413 m,
      nav range: 83.858841 m,
      bearing: 131.298004 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.018337 deg/s,
      cmd heading: 120.329806 deg,
      new cmd heading: 120.363777 deg.

2025-08-21T06:47:17.202Z,1755758837.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.100744 target range: 87.123413 and range: 87.60 m.
2025-08-21T06:47:17.576Z,1755758837.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m.
2025-08-21T06:47:17.579Z,1755758837.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.123413 m,
      nav range: 83.613182 m,
      bearing: 131.307594 deg,
      approach rate: -0.623756 m/s,
      LOS rate: 0.024422 deg/s,
      cmd heading: 120.363779 deg,
      new cmd heading: 120.392634 deg.

2025-08-21T06:47:17.580Z,1755758837.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.101248 target range: 87.123413 and range: 87.60 m.
2025-08-21T06:47:17.955Z,1755758837.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m.
2025-08-21T06:47:17.958Z,1755758837.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.123413 m,
      nav range: 83.397987 m,
      bearing: 131.316018 deg,
      approach rate: -0.567934 m/s,
      LOS rate: 0.022289 deg/s,
      cmd heading: 120.392630 deg,
      new cmd heading: 120.417966 deg.

2025-08-21T06:47:17.959Z,1755758837.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.101690 target range: 87.123413 and range: 87.60 m.
2025-08-21T06:47:18.370Z,1755758838.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m.
2025-08-21T06:47:18.373Z,1755758838.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.123413 m,
      nav range: 83.157799 m,
      bearing: 131.325012 deg,
      approach rate: -0.578881 m/s,
      LOS rate: 0.021741 deg/s,
      cmd heading: 120.417970 deg,
      new cmd heading: 120.445032 deg.

2025-08-21T06:47:18.374Z,1755758838.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102162 target range: 87.123413 and range: 87.60 m.
2025-08-21T06:47:18.753Z,1755758838.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:18.755Z,1755758838.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m.
2025-08-21T06:47:18.758Z,1755758838.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.123413 m,
      nav range: 82.934906 m,
      bearing: 131.333351 deg,
      approach rate: -0.578666 m/s,
      LOS rate: 0.021707 deg/s,
      cmd heading: 120.445031 deg,
      new cmd heading: 120.470114 deg.

2025-08-21T06:47:18.759Z,1755758838.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102600 target range: 87.123413 and range: 87.60 m.
2025-08-21T06:47:18.977Z,1755758838.977 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:18.977Z,1755758838.977 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:18.977Z,1755758838.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:19.212Z,1755758839.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m.
2025-08-21T06:47:19.215Z,1755758839.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.123413 m,
      nav range: 82.664276 m,
      bearing: 131.340564 deg,
      approach rate: -0.592121 m/s,
      LOS rate: 0.015834 deg/s,
      cmd heading: 120.470112 deg,
      new cmd heading: 120.491823 deg.

2025-08-21T06:47:19.216Z,1755758839.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102979 target range: 87.123413 and range: 87.60 m.
2025-08-21T06:47:19.228Z,1755758839.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248334
2025-08-21T06:47:19.481Z,1755758839.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501271
2025-08-21T06:47:19.584Z,1755758839.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m.
2025-08-21T06:47:19.587Z,1755758839.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.123413 m,
      nav range: 82.444244 m,
      bearing: 131.346484 deg,
      approach rate: -0.591922 m/s,
      LOS rate: 0.015966 deg/s,
      cmd heading: 120.491818 deg,
      new cmd heading: 120.509623 deg.

2025-08-21T06:47:19.588Z,1755758839.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103290 target range: 87.123413 and range: 87.60 m.
2025-08-21T06:47:19.732Z,1755758839.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752455
2025-08-21T06:47:19.984Z,1755758839.984 [DAT](INFO): DAT read: Rx Time:06:47:18.7428

2025-08-21T06:47:19.985Z,1755758839.985 [DAT](INFO): Rx dataTimestamp_ set to:1755758839.984499
2025-08-21T06:47:19.985Z,1755758839.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005404
2025-08-21T06:47:20.001Z,1755758840.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m.
2025-08-21T06:47:20.008Z,1755758840.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.123413 m,
      nav range: 82.211845 m,
      bearing: 131.352724 deg,
      approach rate: -0.557587 m/s,
      LOS rate: 0.015014 deg/s,
      cmd heading: 120.509617 deg,
      new cmd heading: 120.528391 deg.

2025-08-21T06:47:20.009Z,1755758840.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103617 target range: 87.123413 and range: 87.60 m.
2025-08-21T06:47:20.238Z,1755758840.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258271
2025-08-21T06:47:20.483Z,1755758840.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.12 m.
2025-08-21T06:47:20.486Z,1755758840.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.123413 m,
      nav range: 81.931618 m,
      bearing: 131.361969 deg,
      approach rate: -0.589024 m/s,
      LOS rate: 0.019500 deg/s,
      cmd heading: 120.528387 deg,
      new cmd heading: 120.556218 deg.

2025-08-21T06:47:20.486Z,1755758840.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104103 target range: 87.123413 and range: 87.60 m.
2025-08-21T06:47:20.494Z,1755758840.494 [DAT](INFO): DAT read: 06:47:18.7428 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.10,-0.266,-2.243,-0.513,-0.757, PHS= 0.593,-1.441, 0.200, RAW= 139.5,   7.0, CAL= 139.2,   7.8, ROT=  10.8,  -7.8

2025-08-21T06:47:20.495Z,1755758840.495 [DAT](INFO): got valid direction response:
 06:47:18.7428 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 413, 0.10,-0.266,-2.243,-0.513,-0.757, PHS= 0.593,-1.441, 0.200, RAW= 139.5,   7.0, CAL= 139.2,   7.8, ROT=  10.8,  -7.8

2025-08-21T06:47:20.496Z,1755758840.496 [DAT](INFO): DAT read: Bearing 283.0,  17.2 (Local)

2025-08-21T06:47:20.497Z,1755758840.497 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.0,  17.2 (Local)

2025-08-21T06:47:20.498Z,1755758840.498 [DAT](INFO): DAT read: Range 11 to 50 : 85.5 m  (Round-trip  114.1 ms) speed  0.5 m/s

2025-08-21T06:47:20.499Z,1755758840.499 [DAT](INFO): DAT read: user:1901>

2025-08-21T06:47:20.500Z,1755758840.500 [DAT](INFO): DAT read: Tx time:06:47:19.8746

2025-08-21T06:47:20.500Z,1755758840.500 [DAT](INFO): Ping request sent.
2025-08-21T06:47:20.500Z,1755758840.500 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:20.500Z,1755758840.500 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:20.501Z,1755758840.501 [DAT](INFO): direction in FSK: [0.973199,0.185648,0.135716]
2025-08-21T06:47:20.502Z,1755758840.502 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:20.502Z,1755758840.502 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:20.509Z,1755758840.509 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:20.509Z,1755758840.509 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:20.854Z,1755758840.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 85.500000 m,
      deltaT: 3.525890 s,
      deltaX: -2.099998 m,
      approachRate: -0.595594 m/s,
      rangeRepo size: 4

2025-08-21T06:47:20.860Z,1755758840.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 85.033943 m,
      bearing: 131.393405 deg,
      lat: 36.779376 deg,
      lon: -121.859480 deg,
      deltaT: 3.525890 s,
      deltaX: -2.089470 m,
      approachRate: -0.592608 m/s,
      posRepo size: 4

2025-08-21T06:47:20.861Z,1755758840.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.03 m.
2025-08-21T06:47:20.868Z,1755758840.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.033943 m,
      nav range: 81.738342 m,
      bearing: 131.359738 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019500 deg/s,
      cmd heading: 120.556213 deg,
      new cmd heading: 120.578233 deg.

2025-08-21T06:47:20.869Z,1755758840.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104487 target range: 85.033943 and range: 85.50 m.
2025-08-21T06:47:21.270Z,1755758841.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:21.273Z,1755758841.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.03 m.
2025-08-21T06:47:21.276Z,1755758841.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.033943 m,
      nav range: 81.468979 m,
      bearing: 131.366375 deg,
      approach rate: -0.641826 m/s,
      LOS rate: 0.015866 deg/s,
      cmd heading: 120.578233 deg,
      new cmd heading: 120.598210 deg.

2025-08-21T06:47:21.277Z,1755758841.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104836 target range: 85.033943 and range: 85.50 m.
2025-08-21T06:47:21.496Z,1755758841.496 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:21.496Z,1755758841.496 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:21.496Z,1755758841.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:21.650Z,1755758841.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.03 m.
2025-08-21T06:47:21.652Z,1755758841.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.033943 m,
      nav range: 81.237411 m,
      bearing: 131.372037 deg,
      approach rate: -0.614364 m/s,
      LOS rate: 0.015065 deg/s,
      cmd heading: 120.598205 deg,
      new cmd heading: 120.615240 deg.

2025-08-21T06:47:21.653Z,1755758841.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105133 target range: 85.033943 and range: 85.50 m.
2025-08-21T06:47:21.748Z,1755758841.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248361
2025-08-21T06:47:22.000Z,1755758842.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500201
2025-08-21T06:47:22.069Z,1755758842.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.03 m.
2025-08-21T06:47:22.072Z,1755758842.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.033943 m,
      nav range: 80.979713 m,
      bearing: 131.378260 deg,
      approach rate: -0.614200 m/s,
      LOS rate: 0.014879 deg/s,
      cmd heading: 120.615239 deg,
      new cmd heading: 120.633968 deg.

2025-08-21T06:47:22.073Z,1755758842.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105460 target range: 85.033943 and range: 85.50 m.
2025-08-21T06:47:22.254Z,1755758842.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753518
2025-08-21T06:47:22.474Z,1755758842.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.03 m.
2025-08-21T06:47:22.493Z,1755758842.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.033943 m,
      nav range: 80.740723 m,
      bearing: 131.378831 deg,
      approach rate: -0.590369 m/s,
      LOS rate: 0.001415 deg/s,
      cmd heading: 120.633968 deg,
      new cmd heading: 120.635686 deg.

2025-08-21T06:47:22.494Z,1755758842.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105490 target range: 85.033943 and range: 85.50 m.
2025-08-21T06:47:22.505Z,1755758842.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004535
2025-08-21T06:47:22.756Z,1755758842.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256372
2025-08-21T06:47:22.853Z,1755758842.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.03 m.
2025-08-21T06:47:22.856Z,1755758842.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.033943 m,
      nav range: 80.516846 m,
      bearing: 131.379319 deg,
      approach rate: -0.590849 m/s,
      LOS rate: 0.001291 deg/s,
      cmd heading: 120.635689 deg,
      new cmd heading: 120.637157 deg.

2025-08-21T06:47:22.857Z,1755758842.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105515 target range: 85.033943 and range: 85.50 m.
2025-08-21T06:47:23.008Z,1755758843.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508107
2025-08-21T06:47:23.261Z,1755758843.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760496
2025-08-21T06:47:23.292Z,1755758843.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:23.294Z,1755758843.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.03 m.
2025-08-21T06:47:23.297Z,1755758843.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.033943 m,
      nav range: 80.252853 m,
      bearing: 131.379660 deg,
      approach rate: -0.598404 m/s,
      LOS rate: 0.000775 deg/s,
      cmd heading: 120.637151 deg,
      new cmd heading: 120.638176 deg.

2025-08-21T06:47:23.298Z,1755758843.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105533 target range: 85.033943 and range: 85.50 m.
2025-08-21T06:47:23.513Z,1755758843.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012546
2025-08-21T06:47:23.665Z,1755758843.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.03 m.
2025-08-21T06:47:23.667Z,1755758843.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.033943 m,
      nav range: 80.029922 m,
      bearing: 131.379870 deg,
      approach rate: -0.601646 m/s,
      LOS rate: 0.000570 deg/s,
      cmd heading: 120.638175 deg,
      new cmd heading: 120.638809 deg.

2025-08-21T06:47:23.668Z,1755758843.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105544 target range: 85.033943 and range: 85.50 m.
2025-08-21T06:47:23.764Z,1755758843.764 [DAT](INFO): DAT read: Rx Time:06:47:22.3899

2025-08-21T06:47:23.765Z,1755758843.765 [DAT](INFO): Rx dataTimestamp_ set to:1755758843.764549
2025-08-21T06:47:23.765Z,1755758843.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265349
2025-08-21T06:47:24.016Z,1755758844.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516030
2025-08-21T06:47:24.135Z,1755758844.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.03 m.
2025-08-21T06:47:24.138Z,1755758844.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.033943 m,
      nav range: 79.755180 m,
      bearing: 131.379997 deg,
      approach rate: -0.588931 m/s,
      LOS rate: 0.000273 deg/s,
      cmd heading: 120.638804 deg,
      new cmd heading: 120.639186 deg.

2025-08-21T06:47:24.139Z,1755758844.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105551 target range: 85.033943 and range: 85.50 m.
2025-08-21T06:47:24.277Z,1755758844.277 [DAT](INFO): DAT read: 06:47:22.3899 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 415,-0.19,-1.405, 2.923,-1.621,-1.856, PHS= 0.553,-1.459, 0.191, RAW= 140.3,   7.8, CAL= 139.9,   8.6, ROT=  10.1,  -8.6

2025-08-21T06:47:24.279Z,1755758844.279 [DAT](INFO): got valid direction response:
 06:47:22.3899 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 415,-0.19,-1.405, 2.923,-1.621,-1.856, PHS= 0.553,-1.459, 0.191, RAW= 140.3,   7.8, CAL= 139.9,   8.6, ROT=  10.1,  -8.6

2025-08-21T06:47:24.280Z,1755758844.280 [DAT](INFO): DAT read: Bearing 283.9,  15.3 (Local)

2025-08-21T06:47:24.281Z,1755758844.281 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.9,  15.3 (Local)

2025-08-21T06:47:24.283Z,1755758844.283 [DAT](INFO): DAT read: Range 11 to 50 : 83.4 m  (Round-trip  111.2 ms) speed  0.5 m/s

2025-08-21T06:47:24.285Z,1755758844.285 [DAT](INFO): DAT read: user:1902>

2025-08-21T06:47:24.286Z,1755758844.286 [DAT](INFO): DAT read: Tx time:06:47:23.4746

2025-08-21T06:47:24.286Z,1755758844.286 [DAT](INFO): Ping request sent.
2025-08-21T06:47:24.286Z,1755758844.286 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:24.286Z,1755758844.286 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:24.287Z,1755758844.287 [DAT](INFO): direction in FSK: [0.973434,0.173395,0.149535]
2025-08-21T06:47:24.288Z,1755758844.288 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:24.288Z,1755758844.288 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:24.291Z,1755758844.291 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:24.297Z,1755758844.297 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:24.530Z,1755758844.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 83.400002 m,
      deltaT: 3.780367 s,
      deltaX: -2.099998 m,
      approachRate: -0.555501 m/s,
      rangeRepo size: 4

2025-08-21T06:47:24.536Z,1755758844.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.941612 m,
      bearing: 130.884787 deg,
      lat: 36.779374 deg,
      lon: -121.859475 deg,
      deltaT: 3.780367 s,
      deltaX: -2.092331 m,
      approachRate: -0.553473 m/s,
      posRepo size: 4

2025-08-21T06:47:24.537Z,1755758844.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.94 m.
2025-08-21T06:47:24.544Z,1755758844.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.941612 m,
      nav range: 79.936081 m,
      bearing: 131.302437 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000273 deg/s,
      cmd heading: 120.639186 deg,
      new cmd heading: 120.639512 deg.

2025-08-21T06:47:24.545Z,1755758844.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105557 target range: 82.941612 and range: 83.40 m.
2025-08-21T06:47:24.890Z,1755758844.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.94 m.
2025-08-21T06:47:24.894Z,1755758844.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.941612 m,
      nav range: 79.714310 m,
      bearing: 131.301187 deg,
      approach rate: -0.615874 m/s,
      LOS rate: -0.003481 deg/s,
      cmd heading: 120.639514 deg,
      new cmd heading: 120.635753 deg.

2025-08-21T06:47:24.897Z,1755758844.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105491 target range: 82.941612 and range: 83.40 m.
2025-08-21T06:47:25.317Z,1755758845.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:25.319Z,1755758845.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.94 m.
2025-08-21T06:47:25.322Z,1755758845.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.941612 m,
      nav range: 79.441826 m,
      bearing: 131.299624 deg,
      approach rate: -0.634189 m/s,
      LOS rate: -0.003649 deg/s,
      cmd heading: 120.635757 deg,
      new cmd heading: 120.631054 deg.

2025-08-21T06:47:25.322Z,1755758845.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105409 target range: 82.941612 and range: 83.40 m.
2025-08-21T06:47:25.529Z,1755758845.529 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:25.529Z,1755758845.529 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:25.530Z,1755758845.530 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:25.692Z,1755758845.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.94 m.
2025-08-21T06:47:25.695Z,1755758845.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.941612 m,
      nav range: 79.220192 m,
      bearing: 131.298257 deg,
      approach rate: -0.593143 m/s,
      LOS rate: -0.003669 deg/s,
      cmd heading: 120.631058 deg,
      new cmd heading: 120.626945 deg.

2025-08-21T06:47:25.700Z,1755758845.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105337 target range: 82.941612 and range: 83.40 m.
2025-08-21T06:47:25.781Z,1755758845.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494562
2025-08-21T06:47:26.032Z,1755758846.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746156
2025-08-21T06:47:26.090Z,1755758846.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.94 m.
2025-08-21T06:47:26.093Z,1755758846.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.941612 m,
      nav range: 78.966995 m,
      bearing: 131.296674 deg,
      approach rate: -0.636585 m/s,
      LOS rate: -0.003994 deg/s,
      cmd heading: 120.626946 deg,
      new cmd heading: 120.622180 deg.

2025-08-21T06:47:26.094Z,1755758846.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105254 target range: 82.941612 and range: 83.40 m.
2025-08-21T06:47:26.287Z,1755758846.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000381
2025-08-21T06:47:26.515Z,1755758846.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.94 m.
2025-08-21T06:47:26.518Z,1755758846.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.941612 m,
      nav range: 78.719208 m,
      bearing: 131.291125 deg,
      approach rate: -0.583230 m/s,
      LOS rate: -0.013101 deg/s,
      cmd heading: 120.622179 deg,
      new cmd heading: 120.605481 deg.

2025-08-21T06:47:26.519Z,1755758846.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104963 target range: 82.941612 and range: 83.40 m.
2025-08-21T06:47:26.536Z,1755758846.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250341
2025-08-21T06:47:26.789Z,1755758846.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502682
2025-08-21T06:47:26.906Z,1755758846.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.94 m.
2025-08-21T06:47:26.925Z,1755758846.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.941612 m,
      nav range: 78.495041 m,
      bearing: 131.286066 deg,
      approach rate: -0.574849 m/s,
      LOS rate: -0.013011 deg/s,
      cmd heading: 120.605486 deg,
      new cmd heading: 120.590264 deg.

2025-08-21T06:47:26.926Z,1755758846.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104697 target range: 82.941612 and range: 83.40 m.
2025-08-21T06:47:27.040Z,1755758847.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754266
2025-08-21T06:47:27.293Z,1755758847.293 [DAT](INFO): DAT read: Rx Time:06:47:25.9870

2025-08-21T06:47:27.294Z,1755758847.294 [DAT](INFO): Rx dataTimestamp_ set to:1755758847.293677
2025-08-21T06:47:27.294Z,1755758847.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008504
2025-08-21T06:47:27.368Z,1755758847.368 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:27.370Z,1755758847.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.94 m.
2025-08-21T06:47:27.373Z,1755758847.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.941612 m,
      nav range: 78.221924 m,
      bearing: 131.281593 deg,
      approach rate: -0.587431 m/s,
      LOS rate: -0.009653 deg/s,
      cmd heading: 120.590268 deg,
      new cmd heading: 120.576804 deg.

2025-08-21T06:47:27.374Z,1755758847.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104462 target range: 82.941612 and range: 83.40 m.
2025-08-21T06:47:27.544Z,1755758847.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258182
2025-08-21T06:47:27.734Z,1755758847.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.94 m.
2025-08-21T06:47:27.737Z,1755758847.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.941612 m,
      nav range: 78.010429 m,
      bearing: 131.278094 deg,
      approach rate: -0.580547 m/s,
      LOS rate: -0.009631 deg/s,
      cmd heading: 120.576799 deg,
      new cmd heading: 120.566274 deg.

2025-08-21T06:47:27.738Z,1755758847.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104278 target range: 82.941612 and range: 83.40 m.
2025-08-21T06:47:27.803Z,1755758847.803 [DAT](INFO): DAT read: 06:47:25.9870 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417, 0.45,-0.466,-2.408,-0.729,-0.928, PHS= 0.564,-1.434, 0.155, RAW= 138.8,   7.9, CAL= 138.5,   8.8, ROT=  11.5,  -8.8

2025-08-21T06:47:27.804Z,1755758847.804 [DAT](INFO): got valid direction response:
 06:47:25.9870 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417, 0.45,-0.466,-2.408,-0.729,-0.928, PHS= 0.564,-1.434, 0.155, RAW= 138.8,   7.9, CAL= 138.5,   8.8, ROT=  11.5,  -8.8

2025-08-21T06:47:27.805Z,1755758847.805 [DAT](INFO): DAT read: Bearing 284.1,  15.6 (Local)

2025-08-21T06:47:27.805Z,1755758847.805 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.1,  15.6 (Local)

2025-08-21T06:47:27.806Z,1755758847.806 [DAT](INFO): DAT read: Range 11 to 50 : 81.2 m  (Round-trip  108.3 ms) speed  0.4 m/s

2025-08-21T06:47:27.807Z,1755758847.807 [DAT](INFO): DAT read: user:1903>

2025-08-21T06:47:27.808Z,1755758847.808 [DAT](INFO): DAT read: Tx time:06:47:27.0746

2025-08-21T06:47:27.808Z,1755758847.808 [DAT](INFO): Ping request sent.
2025-08-21T06:47:27.808Z,1755758847.808 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:27.809Z,1755758847.809 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:27.810Z,1755758847.810 [DAT](INFO): direction in FSK: [0.968389,0.197021,0.152986]
2025-08-21T06:47:27.810Z,1755758847.810 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:27.810Z,1755758847.810 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:27.814Z,1755758847.814 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:27.815Z,1755758847.815 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:28.165Z,1755758848.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.199997 m,
      deltaT: 3.528238 s,
      deltaX: -2.200005 m,
      approachRate: -0.623542 m/s,
      rangeRepo size: 4

2025-08-21T06:47:28.173Z,1755758848.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.752708 m,
      bearing: 132.381865 deg,
      lat: 36.779371 deg,
      lon: -121.859475 deg,
      deltaT: 3.528238 s,
      deltaX: -2.188904 m,
      approachRate: -0.620396 m/s,
      posRepo size: 4

2025-08-21T06:47:28.174Z,1755758848.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m.
2025-08-21T06:47:28.181Z,1755758848.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.752708 m,
      nav range: 78.021980 m,
      bearing: 131.472254 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009631 deg/s,
      cmd heading: 120.566267 deg,
      new cmd heading: 120.554911 deg.

2025-08-21T06:47:28.182Z,1755758848.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104080 target range: 80.752708 and range: 81.20 m.
2025-08-21T06:47:28.273Z,1755758848.273 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:47:28.541Z,1755758848.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m.
2025-08-21T06:47:28.544Z,1755758848.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.752708 m,
      nav range: 77.777924 m,
      bearing: 131.471777 deg,
      approach rate: -0.590086 m/s,
      LOS rate: -0.001159 deg/s,
      cmd heading: 120.554915 deg,
      new cmd heading: 120.553478 deg.

2025-08-21T06:47:28.545Z,1755758848.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104055 target range: 80.752708 and range: 81.20 m.
2025-08-21T06:47:28.997Z,1755758848.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m.
2025-08-21T06:47:29.000Z,1755758849.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.752708 m,
      nav range: 77.510849 m,
      bearing: 131.471153 deg,
      approach rate: -0.584873 m/s,
      LOS rate: -0.001371 deg/s,
      cmd heading: 120.553481 deg,
      new cmd heading: 120.551603 deg.

2025-08-21T06:47:29.001Z,1755758849.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104023 target range: 80.752708 and range: 81.20 m.
2025-08-21T06:47:29.278Z,1755758849.278 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:47:29.439Z,1755758849.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:29.441Z,1755758849.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m.
2025-08-21T06:47:29.448Z,1755758849.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.752708 m,
      nav range: 77.264313 m,
      bearing: 131.469177 deg,
      approach rate: -0.555281 m/s,
      LOS rate: -0.004465 deg/s,
      cmd heading: 120.551609 deg,
      new cmd heading: 120.545662 deg.

2025-08-21T06:47:29.449Z,1755758849.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103919 target range: 80.752708 and range: 81.20 m.
2025-08-21T06:47:29.560Z,1755758849.560 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:29.560Z,1755758849.560 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:29.560Z,1755758849.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:29.795Z,1755758849.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m.
2025-08-21T06:47:29.798Z,1755758849.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.752708 m,
      nav range: 77.059196 m,
      bearing: 131.467556 deg,
      approach rate: -0.580059 m/s,
      LOS rate: -0.004594 deg/s,
      cmd heading: 120.545667 deg,
      new cmd heading: 120.540794 deg.

2025-08-21T06:47:29.799Z,1755758849.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103834 target range: 80.752708 and range: 81.20 m.
2025-08-21T06:47:29.812Z,1755758849.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003708
2025-08-21T06:47:30.066Z,1755758850.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257010
2025-08-21T06:47:30.203Z,1755758850.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m.
2025-08-21T06:47:30.206Z,1755758850.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.752708 m,
      nav range: 76.828278 m,
      bearing: 131.465764 deg,
      approach rate: -0.566097 m/s,
      LOS rate: -0.004408 deg/s,
      cmd heading: 120.540790 deg,
      new cmd heading: 120.535396 deg.

2025-08-21T06:47:30.207Z,1755758850.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103740 target range: 80.752708 and range: 81.20 m.
2025-08-21T06:47:30.321Z,1755758850.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511764
2025-08-21T06:47:30.568Z,1755758850.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759779
2025-08-21T06:47:30.615Z,1755758850.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m.
2025-08-21T06:47:30.617Z,1755758850.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.752708 m,
      nav range: 76.586479 m,
      bearing: 131.466619 deg,
      approach rate: -0.587340 m/s,
      LOS rate: 0.002085 deg/s,
      cmd heading: 120.535395 deg,
      new cmd heading: 120.537970 deg.

2025-08-21T06:47:30.618Z,1755758850.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103785 target range: 80.752708 and range: 81.20 m.
2025-08-21T06:47:30.821Z,1755758850.821 [DAT](INFO): DAT read: Rx Time:06:47:29.5841

2025-08-21T06:47:30.821Z,1755758850.821 [DAT](INFO): Rx dataTimestamp_ set to:1755758850.820719
2025-08-21T06:47:30.822Z,1755758850.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013184
2025-08-21T06:47:30.992Z,1755758850.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.75 m.
2025-08-21T06:47:30.994Z,1755758850.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.752708 m,
      nav range: 76.365456 m,
      bearing: 131.467249 deg,
      approach rate: -0.586565 m/s,
      LOS rate: 0.001675 deg/s,
      cmd heading: 120.537976 deg,
      new cmd heading: 120.539870 deg.

2025-08-21T06:47:30.995Z,1755758850.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103818 target range: 80.752708 and range: 81.20 m.
2025-08-21T06:47:31.072Z,1755758851.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264026
2025-08-21T06:47:31.358Z,1755758851.358 [DAT](INFO): DAT read: 06:47:29.5841 LVL= 28384, 32753, 31938, 32755, AGC= 66, IDX= 421,-0.21, 0.030,-1.917,-0.197,-0.429, PHS= 0.561,-1.443, 0.188, RAW= 139.9,   7.6, CAL= 139.6,   8.4, ROT=  10.4,  -8.4

2025-08-21T06:47:31.360Z,1755758851.360 [DAT](INFO): got valid direction response:
 06:47:29.5841 LVL= 28384, 32753, 31938, 32755, AGC= 66, IDX= 421,-0.21, 0.030,-1.917,-0.197,-0.429, PHS= 0.561,-1.443, 0.188, RAW= 139.9,   7.6, CAL= 139.6,   8.4, ROT=  10.4,  -8.4

2025-08-21T06:47:31.361Z,1755758851.361 [DAT](INFO): DAT read: Bearing 283.8,  13.7 (Local)

2025-08-21T06:47:31.361Z,1755758851.361 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.8,  13.7 (Local)

2025-08-21T06:47:31.363Z,1755758851.363 [DAT](INFO): DAT read: Range 11 to 50 : 79.1 m  (Round-trip  105.5 ms) speed  0.6 m/s

2025-08-21T06:47:31.363Z,1755758851.363 [DAT](INFO): DAT read: user:1904>

2025-08-21T06:47:31.364Z,1755758851.364 [DAT](INFO): DAT read: Tx time:06:47:30.6745

2025-08-21T06:47:31.365Z,1755758851.365 [DAT](INFO): Ping request sent.
2025-08-21T06:47:31.365Z,1755758851.365 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:31.365Z,1755758851.365 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:31.367Z,1755758851.367 [DAT](INFO): direction in FSK: [0.973020,0.178583,0.146083]
2025-08-21T06:47:31.368Z,1755758851.368 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:31.368Z,1755758851.368 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:31.408Z,1755758851.408 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:31.408Z,1755758851.408 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:31.597Z,1755758851.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 79.099998 m,
      deltaT: 3.531604 s,
      deltaX: -2.099998 m,
      approachRate: -0.594630 m/s,
      rangeRepo size: 4

2025-08-21T06:47:31.603Z,1755758851.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 78.663460 m,
      bearing: 131.394377 deg,
      lat: 36.779369 deg,
      lon: -121.859474 deg,
      deltaT: 3.531604 s,
      deltaX: -2.089249 m,
      approachRate: -0.591586 m/s,
      posRepo size: 4

2025-08-21T06:47:31.604Z,1755758851.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.66 m.
2025-08-21T06:47:31.607Z,1755758851.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.663460 m,
      nav range: 76.279434 m,
      bearing: 131.499326 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.001675 deg/s,
      cmd heading: 120.539875 deg,
      new cmd heading: 120.542917 deg.

2025-08-21T06:47:31.612Z,1755758851.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103871 target range: 78.663460 and range: 79.10 m.
2025-08-21T06:47:32.064Z,1755758852.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:32.066Z,1755758852.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.66 m.
2025-08-21T06:47:32.069Z,1755758852.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.663460 m,
      nav range: 75.986977 m,
      bearing: 131.504076 deg,
      approach rate: -0.623469 m/s,
      LOS rate: 0.010164 deg/s,
      cmd heading: 120.542921 deg,
      new cmd heading: 120.557225 deg.

2025-08-21T06:47:32.069Z,1755758852.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104120 target range: 78.663460 and range: 79.10 m.
2025-08-21T06:47:32.096Z,1755758852.096 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:32.096Z,1755758852.096 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:32.096Z,1755758852.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:32.355Z,1755758852.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989228
2025-08-21T06:47:32.595Z,1755758852.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.66 m.
2025-08-21T06:47:32.598Z,1755758852.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.663460 m,
      nav range: 75.662132 m,
      bearing: 131.507457 deg,
      approach rate: -0.614088 m/s,
      LOS rate: 0.006419 deg/s,
      cmd heading: 120.557224 deg,
      new cmd heading: 120.567410 deg.

2025-08-21T06:47:32.598Z,1755758852.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104298 target range: 78.663460 and range: 79.10 m.
2025-08-21T06:47:32.605Z,1755758852.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239538
2025-08-21T06:47:32.857Z,1755758852.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491628
2025-08-21T06:47:32.974Z,1755758852.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.66 m.
2025-08-21T06:47:32.977Z,1755758852.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.663460 m,
      nav range: 75.429420 m,
      bearing: 131.509883 deg,
      approach rate: -0.613785 m/s,
      LOS rate: 0.006419 deg/s,
      cmd heading: 120.567414 deg,
      new cmd heading: 120.574715 deg.

2025-08-21T06:47:32.978Z,1755758852.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104426 target range: 78.663460 and range: 79.10 m.
2025-08-21T06:47:33.108Z,1755758853.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743296
2025-08-21T06:47:33.363Z,1755758853.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997456
2025-08-21T06:47:33.461Z,1755758853.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.66 m.
2025-08-21T06:47:33.468Z,1755758853.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.663460 m,
      nav range: 75.141151 m,
      bearing: 131.513207 deg,
      approach rate: -0.591487 m/s,
      LOS rate: 0.006847 deg/s,
      cmd heading: 120.574709 deg,
      new cmd heading: 120.584721 deg.

2025-08-21T06:47:33.469Z,1755758853.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104600 target range: 78.663460 and range: 79.10 m.
2025-08-21T06:47:33.612Z,1755758853.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247354
2025-08-21T06:47:33.814Z,1755758853.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.66 m.
2025-08-21T06:47:33.817Z,1755758853.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.663460 m,
      nav range: 74.915543 m,
      bearing: 131.515794 deg,
      approach rate: -0.639158 m/s,
      LOS rate: 0.007351 deg/s,
      cmd heading: 120.584722 deg,
      new cmd heading: 120.592506 deg.

2025-08-21T06:47:33.818Z,1755758853.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104736 target range: 78.663460 and range: 79.10 m.
2025-08-21T06:47:33.868Z,1755758853.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501858
2025-08-21T06:47:34.116Z,1755758854.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751271
2025-08-21T06:47:34.214Z,1755758854.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:34.217Z,1755758854.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.66 m.
2025-08-21T06:47:34.232Z,1755758854.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.663460 m,
      nav range: 74.669739 m,
      bearing: 131.518581 deg,
      approach rate: -0.610083 m/s,
      LOS rate: 0.006941 deg/s,
      cmd heading: 120.592509 deg,
      new cmd heading: 120.600899 deg.

2025-08-21T06:47:34.233Z,1755758854.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104883 target range: 78.663460 and range: 79.10 m.
2025-08-21T06:47:34.372Z,1755758854.372 [DAT](INFO): DAT read: Rx Time:06:47:33.1812

2025-08-21T06:47:34.374Z,1755758854.374 [DAT](INFO): Rx dataTimestamp_ set to:1755758854.372924
2025-08-21T06:47:34.377Z,1755758854.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011458
2025-08-21T06:47:34.620Z,1755758854.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255312
2025-08-21T06:47:34.645Z,1755758854.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.66 m.
2025-08-21T06:47:34.648Z,1755758854.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.663460 m,
      nav range: 74.401016 m,
      bearing: 131.522067 deg,
      approach rate: -0.627469 m/s,
      LOS rate: 0.008168 deg/s,
      cmd heading: 120.600896 deg,
      new cmd heading: 120.611390 deg.

2025-08-21T06:47:34.649Z,1755758854.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105066 target range: 78.663460 and range: 79.10 m.
2025-08-21T06:47:34.899Z,1755758854.899 [DAT](INFO): DAT read: 06:47:33.1812 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407,-0.08, 0.092,-1.867,-0.148,-0.324, PHS= 0.519,-1.498, 0.132, RAW= 139.6,   9.2, CAL= 139.2,  10.1, ROT=  10.8, -10.1

2025-08-21T06:47:34.901Z,1755758854.901 [DAT](INFO): got valid direction response:
 06:47:33.1812 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407,-0.08, 0.092,-1.867,-0.148,-0.324, PHS= 0.519,-1.498, 0.132, RAW= 139.6,   9.2, CAL= 139.2,  10.1, ROT=  10.8, -10.1

2025-08-21T06:47:34.902Z,1755758854.902 [DAT](INFO): DAT read: Bearing 285.1,  13.0 (Local)

2025-08-21T06:47:34.903Z,1755758854.903 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.1,  13.0 (Local)

2025-08-21T06:47:34.905Z,1755758854.905 [DAT](INFO): DAT read: Range 11 to 50 : 76.9 m  (Round-trip  102.6 ms) speed  0.6 m/s

2025-08-21T06:47:34.906Z,1755758854.906 [DAT](INFO): DAT read: user:1905>

2025-08-21T06:47:34.908Z,1755758854.908 [DAT](INFO): DAT read: Tx time:06:47:34.2745

2025-08-21T06:47:34.909Z,1755758854.909 [DAT](INFO): Ping request sent.
2025-08-21T06:47:34.909Z,1755758854.909 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:34.909Z,1755758854.909 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:34.911Z,1755758854.911 [DAT](INFO): direction in FSK: [0.967065,0.184478,0.175367]
2025-08-21T06:47:34.911Z,1755758854.911 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:34.912Z,1755758854.912 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:34.915Z,1755758854.915 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:34.915Z,1755758854.915 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:35.069Z,1755758855.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.900002 m,
      deltaT: 3.545471 s,
      deltaX: -2.199997 m,
      approachRate: -0.620509 m/s,
      rangeRepo size: 4

2025-08-21T06:47:35.080Z,1755758855.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.475296 m,
      bearing: 131.788748 deg,
      lat: 36.779365 deg,
      lon: -121.859471 deg,
      deltaT: 3.545471 s,
      deltaX: -2.188164 m,
      approachRate: -0.617172 m/s,
      posRepo size: 4

2025-08-21T06:47:35.080Z,1755758855.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.48 m.
2025-08-21T06:47:35.083Z,1755758855.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.475296 m,
      nav range: 74.594002 m,
      bearing: 131.660600 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008168 deg/s,
      cmd heading: 120.611387 deg,
      new cmd heading: 120.621759 deg.

2025-08-21T06:47:35.088Z,1755758855.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105247 target range: 76.475296 and range: 76.90 m.
2025-08-21T06:47:35.469Z,1755758855.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.48 m.
2025-08-21T06:47:35.472Z,1755758855.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.475296 m,
      nav range: 74.338951 m,
      bearing: 131.662121 deg,
      approach rate: -0.637415 m/s,
      LOS rate: 0.003817 deg/s,
      cmd heading: 120.621755 deg,
      new cmd heading: 120.626337 deg.

2025-08-21T06:47:35.473Z,1755758855.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105327 target range: 76.475296 and range: 76.90 m.
2025-08-21T06:47:35.851Z,1755758855.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.48 m.
2025-08-21T06:47:35.853Z,1755758855.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.475296 m,
      nav range: 74.104378 m,
      bearing: 131.663531 deg,
      approach rate: -0.614224 m/s,
      LOS rate: 0.003701 deg/s,
      cmd heading: 120.626332 deg,
      new cmd heading: 120.630572 deg.

2025-08-21T06:47:35.854Z,1755758855.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105401 target range: 76.475296 and range: 76.90 m.
2025-08-21T06:47:36.238Z,1755758856.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:36.240Z,1755758856.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.48 m.
2025-08-21T06:47:36.243Z,1755758856.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.475296 m,
      nav range: 73.865845 m,
      bearing: 131.665040 deg,
      approach rate: -0.612314 m/s,
      LOS rate: 0.003889 deg/s,
      cmd heading: 120.630566 deg,
      new cmd heading: 120.635111 deg.

2025-08-21T06:47:36.244Z,1755758856.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105480 target range: 76.475296 and range: 76.90 m.
2025-08-21T06:47:36.386Z,1755758856.386 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:36.387Z,1755758856.387 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:36.388Z,1755758856.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:36.636Z,1755758856.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727496
2025-08-21T06:47:36.677Z,1755758856.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.48 m.
2025-08-21T06:47:36.679Z,1755758856.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.475296 m,
      nav range: 73.605759 m,
      bearing: 131.665797 deg,
      approach rate: -0.596175 m/s,
      LOS rate: 0.001740 deg/s,
      cmd heading: 120.635115 deg,
      new cmd heading: 120.637392 deg.

2025-08-21T06:47:36.680Z,1755758856.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105520 target range: 76.475296 and range: 76.90 m.
2025-08-21T06:47:36.889Z,1755758856.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980269
2025-08-21T06:47:37.061Z,1755758857.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.48 m.
2025-08-21T06:47:37.064Z,1755758857.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.475296 m,
      nav range: 73.372192 m,
      bearing: 131.666555 deg,
      approach rate: -0.607866 m/s,
      LOS rate: 0.001979 deg/s,
      cmd heading: 120.637397 deg,
      new cmd heading: 120.639678 deg.

2025-08-21T06:47:37.064Z,1755758857.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105560 target range: 76.475296 and range: 76.90 m.
2025-08-21T06:47:37.141Z,1755758857.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231945
2025-08-21T06:47:37.395Z,1755758857.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485616
2025-08-21T06:47:37.501Z,1755758857.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.48 m.
2025-08-21T06:47:37.507Z,1755758857.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.475296 m,
      nav range: 73.109222 m,
      bearing: 131.669550 deg,
      approach rate: -0.597887 m/s,
      LOS rate: 0.006834 deg/s,
      cmd heading: 120.639678 deg,
      new cmd heading: 120.648695 deg.

2025-08-21T06:47:37.508Z,1755758857.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105717 target range: 76.475296 and range: 76.90 m.
2025-08-21T06:47:37.644Z,1755758857.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735381
2025-08-21T06:47:37.891Z,1755758857.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.48 m.
2025-08-21T06:47:37.894Z,1755758857.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.475296 m,
      nav range: 72.875000 m,
      bearing: 131.672235 deg,
      approach rate: -0.600101 m/s,
      LOS rate: 0.006903 deg/s,
      cmd heading: 120.648694 deg,
      new cmd heading: 120.656777 deg.

2025-08-21T06:47:37.895Z,1755758857.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105858 target range: 76.475296 and range: 76.90 m.
2025-08-21T06:47:37.896Z,1755758857.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987605
2025-08-21T06:47:38.150Z,1755758858.150 [DAT](INFO): DAT read: Rx Time:06:47:36.7785

2025-08-21T06:47:38.150Z,1755758858.150 [DAT](INFO): Rx dataTimestamp_ set to:1755758858.149879
2025-08-21T06:47:38.151Z,1755758858.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242248
2025-08-21T06:47:38.260Z,1755758858.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:38.262Z,1755758858.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.48 m.
2025-08-21T06:47:38.265Z,1755758858.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.475296 m,
      nav range: 72.647484 m,
      bearing: 131.675001 deg,
      approach rate: -0.613122 m/s,
      LOS rate: 0.007477 deg/s,
      cmd heading: 120.656781 deg,
      new cmd heading: 120.665104 deg.

2025-08-21T06:47:38.266Z,1755758858.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106003 target range: 76.475296 and range: 76.90 m.
2025-08-21T06:47:38.400Z,1755758858.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491493
2025-08-21T06:47:38.658Z,1755758858.658 [DAT](INFO): DAT read: 06:47:36.7785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 411,-0.09, 0.321,-1.691, 0.096,-0.052, PHS= 0.476,-1.594, 0.104, RAW= 140.3,  10.6, CAL= 139.8,  11.6, ROT=  10.2, -11.6

2025-08-21T06:47:38.659Z,1755758858.659 [DAT](INFO): got valid direction response:
 06:47:36.7785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 411,-0.09, 0.321,-1.691, 0.096,-0.052, PHS= 0.476,-1.594, 0.104, RAW= 140.3,  10.6, CAL= 139.8,  11.6, ROT=  10.2, -11.6

2025-08-21T06:47:38.660Z,1755758858.660 [DAT](INFO): DAT read: Bearing 286.4,  11.0 (Local)

2025-08-21T06:47:38.660Z,1755758858.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.4,  11.0 (Local)

2025-08-21T06:47:38.662Z,1755758858.662 [DAT](INFO): DAT read: Range 11 to 50 : 74.9 m  (Round-trip  99.9 ms) speed  0.5 m/s

2025-08-21T06:47:38.663Z,1755758858.663 [DAT](INFO): DAT read: user:1906>

2025-08-21T06:47:38.663Z,1755758858.663 [DAT](INFO): DAT read: Tx time:06:47:37.8745

2025-08-21T06:47:38.664Z,1755758858.664 [DAT](INFO): Ping request sent.
2025-08-21T06:47:38.664Z,1755758858.664 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:38.664Z,1755758858.664 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:38.665Z,1755758858.665 [DAT](INFO): direction in FSK: [0.964094,0.173468,0.201078]
2025-08-21T06:47:38.665Z,1755758858.665 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:38.665Z,1755758858.665 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:38.677Z,1755758858.677 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:38.677Z,1755758858.677 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:38.816Z,1755758858.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.900002 m,
      deltaT: 3.778230 s,
      deltaX: -2.000000 m,
      approachRate: -0.529348 m/s,
      rangeRepo size: 4

2025-08-21T06:47:38.818Z,1755758858.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.486069 m,
      bearing: 130.925779 deg,
      lat: 36.779365 deg,
      lon: -121.859466 deg,
      deltaT: 3.778230 s,
      deltaX: -1.989227 m,
      approachRate: -0.526497 m/s,
      posRepo size: 4

2025-08-21T06:47:38.819Z,1755758858.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.49 m.
2025-08-21T06:47:38.832Z,1755758858.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.486069 m,
      nav range: 72.711632 m,
      bearing: 131.423185 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.007477 deg/s,
      cmd heading: 120.665100 deg,
      new cmd heading: 120.677423 deg.

2025-08-21T06:47:38.833Z,1755758858.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106218 target range: 74.486069 and range: 74.90 m.
2025-08-21T06:47:39.105Z,1755758859.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.49 m.
2025-08-21T06:47:39.131Z,1755758859.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.486069 m,
      nav range: 72.522186 m,
      bearing: 131.422189 deg,
      approach rate: -0.644519 m/s,
      LOS rate: -0.003398 deg/s,
      cmd heading: 120.677422 deg,
      new cmd heading: 120.674425 deg.

2025-08-21T06:47:39.132Z,1755758859.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106166 target range: 74.486069 and range: 74.90 m.
2025-08-21T06:47:39.555Z,1755758859.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.49 m.
2025-08-21T06:47:39.562Z,1755758859.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.486069 m,
      nav range: 72.273109 m,
      bearing: 131.420810 deg,
      approach rate: -0.554403 m/s,
      LOS rate: -0.003080 deg/s,
      cmd heading: 120.674430 deg,
      new cmd heading: 120.670279 deg.

2025-08-21T06:47:39.563Z,1755758859.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106094 target range: 74.486069 and range: 74.90 m.
2025-08-21T06:47:39.919Z,1755758859.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.49 m.
2025-08-21T06:47:39.921Z,1755758859.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.486069 m,
      nav range: 72.063438 m,
      bearing: 131.419730 deg,
      approach rate: -0.576010 m/s,
      LOS rate: -0.002976 deg/s,
      cmd heading: 120.670277 deg,
      new cmd heading: 120.667027 deg.

2025-08-21T06:47:39.922Z,1755758859.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106037 target range: 74.486069 and range: 74.90 m.
2025-08-21T06:47:40.336Z,1755758860.336 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:40.338Z,1755758860.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.49 m.
2025-08-21T06:47:40.341Z,1755758860.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.486069 m,
      nav range: 71.825966 m,
      bearing: 131.418499 deg,
      approach rate: -0.565575 m/s,
      LOS rate: -0.002941 deg/s,
      cmd heading: 120.667026 deg,
      new cmd heading: 120.663321 deg.

2025-08-21T06:47:40.342Z,1755758860.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105972 target range: 74.486069 and range: 74.90 m.
2025-08-21T06:47:40.417Z,1755758860.417 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:40.417Z,1755758860.417 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:40.418Z,1755758860.418 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:40.668Z,1755758860.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004677
2025-08-21T06:47:40.773Z,1755758860.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.49 m.
2025-08-21T06:47:40.781Z,1755758860.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.486069 m,
      nav range: 71.565834 m,
      bearing: 131.419567 deg,
      approach rate: -0.598562 m/s,
      LOS rate: 0.002466 deg/s,
      cmd heading: 120.663324 deg,
      new cmd heading: 120.666540 deg.

2025-08-21T06:47:40.781Z,1755758860.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106028 target range: 74.486069 and range: 74.90 m.
2025-08-21T06:47:40.920Z,1755758860.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256585
2025-08-21T06:47:41.132Z,1755758861.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.49 m.
2025-08-21T06:47:41.135Z,1755758861.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.486069 m,
      nav range: 71.345428 m,
      bearing: 131.420638 deg,
      approach rate: -0.613958 m/s,
      LOS rate: 0.002994 deg/s,
      cmd heading: 120.666534 deg,
      new cmd heading: 120.669758 deg.

2025-08-21T06:47:41.136Z,1755758861.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106085 target range: 74.486069 and range: 74.90 m.
2025-08-21T06:47:41.175Z,1755758861.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510724
2025-08-21T06:47:41.425Z,1755758861.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761624
2025-08-21T06:47:41.634Z,1755758861.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.49 m.
2025-08-21T06:47:41.636Z,1755758861.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.486069 m,
      nav range: 71.043922 m,
      bearing: 131.415840 deg,
      approach rate: -0.601129 m/s,
      LOS rate: -0.009608 deg/s,
      cmd heading: 120.669758 deg,
      new cmd heading: 120.655301 deg.

2025-08-21T06:47:41.637Z,1755758861.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105832 target range: 74.486069 and range: 74.90 m.
2025-08-21T06:47:41.677Z,1755758861.677 [DAT](INFO): DAT read: Rx Time:06:54

2025-08-21T06:47:41.677Z,1755758861.677 [DAT](INFO): Rx dataTimestamp_ set to:1755758861.676976
2025-08-21T06:47:41.678Z,1755758861.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014368
2025-08-21T06:47:41.931Z,1755758861.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267222
2025-08-21T06:47:41.964Z,1755758861.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.49 m.
2025-08-21T06:47:41.966Z,1755758861.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.486069 m,
      nav range: 70.847389 m,
      bearing: 131.412690 deg,
      approach rate: -0.595175 m/s,
      LOS rate: -0.009566 deg/s,
      cmd heading: 120.655305 deg,
      new cmd heading: 120.645829 deg.

2025-08-21T06:47:41.968Z,1755758861.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105667 target range: 74.486069 and range: 74.90 m.
2025-08-21T06:47:42.186Z,1755758862.186 [DAT](INFO): DAT read: 06:47:40.3754 LVL= 29792, 32753, 32754, 32755, AGC= 69, IDX= 413,-0.37, 0.235,-1.725, 0.008,-0.151, PHS= 0.488,-1.529, 0.114, RAW= 140.0,  10.0, CAL= 139.5,  10.9, ROT=  10.5, -10.9

2025-08-21T06:47:42.187Z,1755758862.187 [DAT](INFO): got valid direction response:
 06:47:40.3754 LVL= 29792, 32753, 32754, 32755, AGC= 69, IDX= 413,-0.37, 0.235,-1.725, 0.008,-0.151, PHS= 0.488,-1.529, 0.114, RAW= 140.0,  10.0, CAL= 139.5,  10.9, ROT=  10.5, -10.9

2025-08-21T06:47:42.188Z,1755758862.188 [DAT](INFO): DAT read: Bearing 285.5,  10.1 (Local)

2025-08-21T06:47:42.188Z,1755758862.188 [DAT](INFO): Local bearing/azimuth received:
 Bearing 285.5,  10.1 (Local)

2025-08-21T06:47:42.190Z,1755758862.190 [DAT](INFO): DAT read: Range 11 to 50 : 72.6 m  (Round-trip  96.8 ms) speed  0.4 m/s

2025-08-21T06:47:42.190Z,1755758862.190 [DAT](INFO): DAT read: user:1907>

2025-08-21T06:47:42.191Z,1755758862.191 [DAT](INFO): DAT read: Tx time:06:47:41.4745

2025-08-21T06:47:42.192Z,1755758862.192 [DAT](INFO): Ping request sent.
2025-08-21T06:47:42.192Z,1755758862.192 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:42.192Z,1755758862.192 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:42.193Z,1755758862.193 [DAT](INFO): direction in FSK: [0.965516,0.178948,0.189095]
2025-08-21T06:47:42.193Z,1755758862.193 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:42.193Z,1755758862.193 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:42.197Z,1755758862.197 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:42.197Z,1755758862.197 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:42.394Z,1755758862.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.599998 m,
      deltaT: 3.527919 s,
      deltaX: -2.300003 m,
      approachRate: -0.651943 m/s,
      rangeRepo size: 4

2025-08-21T06:47:42.400Z,1755758862.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.198196 m,
      bearing: 131.076386 deg,
      lat: 36.779365 deg,
      lon: -121.859466 deg,
      deltaT: 3.527919 s,
      deltaX: -2.287872 m,
      approachRate: -0.648505 m/s,
      posRepo size: 4

2025-08-21T06:47:42.401Z,1755758862.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-08-21T06:47:42.408Z,1755758862.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.198196 m,
      nav range: 70.614632 m,
      bearing: 131.408932 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009566 deg/s,
      cmd heading: 120.645825 deg,
      new cmd heading: 120.633503 deg.

2025-08-21T06:47:42.409Z,1755758862.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105452 target range: 72.198196 and range: 72.60 m.
2025-08-21T06:47:42.791Z,1755758862.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:42.794Z,1755758862.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-08-21T06:47:42.796Z,1755758862.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.198196 m,
      nav range: 70.353981 m,
      bearing: 131.411911 deg,
      approach rate: -0.651078 m/s,
      LOS rate: 0.007468 deg/s,
      cmd heading: 120.633503 deg,
      new cmd heading: 120.642473 deg.

2025-08-21T06:47:42.797Z,1755758862.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105608 target range: 72.198196 and range: 72.60 m.
2025-08-21T06:47:42.936Z,1755758862.936 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:42.936Z,1755758862.936 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:42.937Z,1755758862.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:43.188Z,1755758863.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996588
2025-08-21T06:47:43.272Z,1755758863.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-08-21T06:47:43.275Z,1755758863.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.198196 m,
      nav range: 70.070000 m,
      bearing: 131.415181 deg,
      approach rate: -0.593561 m/s,
      LOS rate: 0.006864 deg/s,
      cmd heading: 120.642478 deg,
      new cmd heading: 120.652330 deg.

2025-08-21T06:47:43.276Z,1755758863.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105780 target range: 72.198196 and range: 72.60 m.
2025-08-21T06:47:43.440Z,1755758863.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248439
2025-08-21T06:47:43.682Z,1755758863.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-08-21T06:47:43.689Z,1755758863.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.198196 m,
      nav range: 69.827919 m,
      bearing: 131.413241 deg,
      approach rate: -0.590298 m/s,
      LOS rate: -0.004749 deg/s,
      cmd heading: 120.652327 deg,
      new cmd heading: 120.646485 deg.

2025-08-21T06:47:43.690Z,1755758863.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105678 target range: 72.198196 and range: 72.60 m.
2025-08-21T06:47:43.693Z,1755758863.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500938
2025-08-21T06:47:43.945Z,1755758863.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753246
2025-08-21T06:47:44.048Z,1755758864.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-08-21T06:47:44.071Z,1755758864.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.198196 m,
      nav range: 69.593613 m,
      bearing: 131.411147 deg,
      approach rate: -0.639491 m/s,
      LOS rate: -0.005734 deg/s,
      cmd heading: 120.646481 deg,
      new cmd heading: 120.640178 deg.

2025-08-21T06:47:44.072Z,1755758864.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105568 target range: 72.198196 and range: 72.60 m.
2025-08-21T06:47:44.197Z,1755758864.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004903
2025-08-21T06:47:44.448Z,1755758864.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256493
2025-08-21T06:47:44.476Z,1755758864.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-08-21T06:47:44.479Z,1755758864.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.198196 m,
      nav range: 69.331741 m,
      bearing: 131.408718 deg,
      approach rate: -0.611936 m/s,
      LOS rate: -0.005696 deg/s,
      cmd heading: 120.640183 deg,
      new cmd heading: 120.632871 deg.

2025-08-21T06:47:44.512Z,1755758864.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105441 target range: 72.198196 and range: 72.60 m.
2025-08-21T06:47:44.700Z,1755758864.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508578
2025-08-21T06:47:44.952Z,1755758864.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760622
2025-08-21T06:47:44.961Z,1755758864.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:44.963Z,1755758864.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-08-21T06:47:44.966Z,1755758864.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.198196 m,
      nav range: 69.031616 m,
      bearing: 131.407952 deg,
      approach rate: -0.617325 m/s,
      LOS rate: -0.001584 deg/s,
      cmd heading: 120.632875 deg,
      new cmd heading: 120.630565 deg.

2025-08-21T06:47:44.967Z,1755758864.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105401 target range: 72.198196 and range: 72.60 m.
2025-08-21T06:47:45.206Z,1755758865.206 [DAT](INFO): DAT read: Rx Time:06:47:43.9724

2025-08-21T06:47:45.206Z,1755758865.206 [DAT](INFO): Rx dataTimestamp_ set to:1755758865.206083
2025-08-21T06:47:45.207Z,1755758865.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015702
2025-08-21T06:47:45.330Z,1755758865.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.20 m.
2025-08-21T06:47:45.333Z,1755758865.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.198196 m,
      nav range: 68.814209 m,
      bearing: 131.407292 deg,
      approach rate: -0.591708 m/s,
      LOS rate: -0.001800 deg/s,
      cmd heading: 120.630566 deg,
      new cmd heading: 120.628582 deg.

2025-08-21T06:47:45.334Z,1755758865.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105366 target range: 72.198196 and range: 72.60 m.
2025-08-21T06:47:45.458Z,1755758865.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265900
2025-08-21T06:47:45.714Z,1755758865.714 [DAT](INFO): DAT read: 06:47:43.9724 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413, 0.49, 0.348,-1.613, 0.100,-0.062, PHS= 0.512,-1.506, 0.118, RAW= 139.4,   9.5, CAL= 139.0,  10.4, ROT=  11.0, -10.4

2025-08-21T06:47:45.724Z,1755758865.724 [DAT](INFO): got valid direction response:
 06:47:43.9724 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 413, 0.49, 0.348,-1.613, 0.100,-0.062, PHS= 0.512,-1.506, 0.118, RAW= 139.4,   9.5, CAL= 139.0,  10.4, ROT=  11.0, -10.4

2025-08-21T06:47:45.725Z,1755758865.725 [DAT](INFO): DAT read: Bearing 284.9,   9.8 (Local)

2025-08-21T06:47:45.725Z,1755758865.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing 284.9,   9.8 (Local)

2025-08-21T06:47:45.727Z,1755758865.727 [DAT](INFO): DAT read: Range 11 to 50 : 70.3 m  (Round-trip  93.8 ms) speed  0.4 m/s

2025-08-21T06:47:45.727Z,1755758865.727 [DAT](INFO): DAT read: user:1908>

2025-08-21T06:47:45.728Z,1755758865.728 [DAT](INFO): DAT read: Tx time:06:47:45.0745

2025-08-21T06:47:45.728Z,1755758865.728 [DAT](INFO): Ping request sent.
2025-08-21T06:47:45.728Z,1755758865.728 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:45.729Z,1755758865.729 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:45.730Z,1755758865.730 [DAT](INFO): direction in FSK: [0.965500,0.187674,0.180519]
2025-08-21T06:47:45.730Z,1755758865.730 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:45.730Z,1755758865.730 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:45.777Z,1755758865.777 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:45.777Z,1755758865.777 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:45.904Z,1755758865.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.300003 m,
      deltaT: 3.528073 s,
      deltaX: -2.299995 m,
      approachRate: -0.651913 m/s,
      rangeRepo size: 4

2025-08-21T06:47:45.906Z,1755758865.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 69.909798 m,
      bearing: 131.705896 deg,
      lat: 36.779365 deg,
      lon: -121.859464 deg,
      deltaT: 3.528073 s,
      deltaX: -2.288399 m,
      approachRate: -0.648626 m/s,
      posRepo size: 4

2025-08-21T06:47:45.907Z,1755758865.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:45.914Z,1755758865.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 68.592720 m,
      bearing: 131.312501 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001800 deg/s,
      cmd heading: 120.628586 deg,
      new cmd heading: 120.625511 deg.

2025-08-21T06:47:45.915Z,1755758865.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105312 target range: 69.909798 and range: 70.30 m.
2025-08-21T06:47:46.242Z,1755758866.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:46.245Z,1755758866.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 68.371994 m,
      bearing: 131.312173 deg,
      approach rate: -0.643830 m/s,
      LOS rate: -0.000959 deg/s,
      cmd heading: 120.625512 deg,
      new cmd heading: 120.624526 deg.

2025-08-21T06:47:46.246Z,1755758866.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105295 target range: 69.909798 and range: 70.30 m.
2025-08-21T06:47:46.670Z,1755758866.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:46.672Z,1755758866.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 68.116943 m,
      bearing: 131.309610 deg,
      approach rate: -0.596580 m/s,
      LOS rate: -0.006019 deg/s,
      cmd heading: 120.624529 deg,
      new cmd heading: 120.616809 deg.

2025-08-21T06:47:46.673Z,1755758866.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105160 target range: 69.909798 and range: 70.30 m.
2025-08-21T06:47:47.044Z,1755758867.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:47.046Z,1755758867.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:47.049Z,1755758867.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 67.892838 m,
      bearing: 131.307332 deg,
      approach rate: -0.596007 m/s,
      LOS rate: -0.006076 deg/s,
      cmd heading: 120.616810 deg,
      new cmd heading: 120.609957 deg.

2025-08-21T06:47:47.050Z,1755758867.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105041 target range: 69.909798 and range: 70.30 m.
2025-08-21T06:47:47.220Z,1755758867.220 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:47.220Z,1755758867.220 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:47.220Z,1755758867.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:47.449Z,1755758867.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:47.451Z,1755758867.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 67.652649 m,
      bearing: 131.304904 deg,
      approach rate: -0.596092 m/s,
      LOS rate: -0.006048 deg/s,
      cmd heading: 120.609953 deg,
      new cmd heading: 120.602642 deg.

2025-08-21T06:47:47.452Z,1755758867.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104913 target range: 69.909798 and range: 70.30 m.
2025-08-21T06:47:47.473Z,1755758867.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744031
2025-08-21T06:47:47.725Z,1755758867.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996140
2025-08-21T06:47:47.894Z,1755758867.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:47.913Z,1755758867.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 67.378258 m,
      bearing: 131.307202 deg,
      approach rate: -0.615756 m/s,
      LOS rate: 0.005179 deg/s,
      cmd heading: 120.602645 deg,
      new cmd heading: 120.609568 deg.

2025-08-21T06:47:47.914Z,1755758867.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105034 target range: 69.909798 and range: 70.30 m.
2025-08-21T06:47:47.976Z,1755758867.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247743
2025-08-21T06:47:48.228Z,1755758868.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499659
2025-08-21T06:47:48.270Z,1755758868.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:48.272Z,1755758868.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 67.149567 m,
      bearing: 131.309113 deg,
      approach rate: -0.609273 m/s,
      LOS rate: 0.005108 deg/s,
      cmd heading: 120.609570 deg,
      new cmd heading: 120.615322 deg.

2025-08-21T06:47:48.273Z,1755758868.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105134 target range: 69.909798 and range: 70.30 m.
2025-08-21T06:47:48.480Z,1755758868.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751703
2025-08-21T06:47:48.695Z,1755758868.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:48.701Z,1755758868.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 66.893623 m,
      bearing: 131.312345 deg,
      approach rate: -0.602181 m/s,
      LOS rate: 0.007633 deg/s,
      cmd heading: 120.615321 deg,
      new cmd heading: 120.625054 deg.

2025-08-21T06:47:48.702Z,1755758868.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105304 target range: 69.909798 and range: 70.30 m.
2025-08-21T06:47:48.737Z,1755758868.737 [DAT](INFO): DAT read: Rx Time:06:47:47.5697

2025-08-21T06:47:48.739Z,1755758868.739 [DAT](INFO): Rx dataTimestamp_ set to:1755758868.737492
2025-08-21T06:47:48.739Z,1755758868.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010939
2025-08-21T06:47:48.984Z,1755758868.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255941
2025-08-21T06:47:49.064Z,1755758869.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:49.066Z,1755758869.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:49.069Z,1755758869.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 66.653198 m,
      bearing: 131.315499 deg,
      approach rate: -0.646587 m/s,
      LOS rate: 0.008513 deg/s,
      cmd heading: 120.625048 deg,
      new cmd heading: 120.634544 deg.

2025-08-21T06:47:49.070Z,1755758869.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105470 target range: 69.909798 and range: 70.30 m.
2025-08-21T06:47:49.239Z,1755758869.239 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509884
2025-08-21T06:47:49.494Z,1755758869.494 [DAT](INFO): DAT read: 06:47:47.5697 LVL= 31648, 32753, 32610, 32755, AGC= 68, IDX= 418,-0.34,-1.007,-2.926,-1.250,-1.366, PHS= 0.462,-1.514, 0.073, RAW= 139.3,  10.8, CAL= 138.8,  11.8, ROT=  11.2, -11.8

2025-08-21T06:47:49.495Z,1755758869.495 [DAT](INFO): got valid direction response:
 06:47:47.5697 LVL= 31648, 32753, 32610, 32755, AGC= 68, IDX= 418,-0.34,-1.007,-2.926,-1.250,-1.366, PHS= 0.462,-1.514, 0.073, RAW= 139.3,  10.8, CAL= 138.8,  11.8, ROT=  11.2, -11.8

2025-08-21T06:47:49.496Z,1755758869.496 [DAT](INFO): DAT read: Bearing 286.0,   9.2 (Local)

2025-08-21T06:47:49.496Z,1755758869.496 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.0,   9.2 (Local)

2025-08-21T06:47:49.498Z,1755758869.498 [DAT](INFO): DAT read: Range 11 to 50 : 68.3 m  (Round-trip  91.1 ms) speed  0.5 m/s

2025-08-21T06:47:49.499Z,1755758869.499 [DAT](INFO): DAT read: user:1909>

2025-08-21T06:47:49.499Z,1755758869.499 [DAT](INFO): DAT read: Tx time:06:47:48.6745

2025-08-21T06:47:49.500Z,1755758869.500 [DAT](INFO): Ping request sent.
2025-08-21T06:47:49.500Z,1755758869.500 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:49.500Z,1755758869.500 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:49.501Z,1755758869.501 [DAT](INFO): direction in FSK: [0.960225,0.190130,0.204496]
2025-08-21T06:47:49.501Z,1755758869.501 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:49.502Z,1755758869.502 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:49.505Z,1755758869.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.300003 m,
      deltaT: 3.780012 s,
      deltaX: -2.000000 m,
      approachRate: -0.529099 m/s,
      rangeRepo size: 4

2025-08-21T06:47:49.507Z,1755758869.507 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:49.508Z,1755758869.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:49.510Z,1755758869.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 66.393913 m,
      bearing: 131.318921 deg,
      approach rate: -0.592525 m/s,
      LOS rate: 0.007852 deg/s,
      cmd heading: 120.634542 deg,
      new cmd heading: 120.644849 deg.

2025-08-21T06:47:49.515Z,1755758869.515 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:49.519Z,1755758869.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105650 target range: 69.909798 and range: 68.30 m.
2025-08-21T06:47:49.960Z,1755758869.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:49.962Z,1755758869.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 66.118324 m,
      bearing: 131.319600 deg,
      approach rate: -0.605146 m/s,
      LOS rate: 0.001497 deg/s,
      cmd heading: 120.644855 deg,
      new cmd heading: 120.646901 deg.

2025-08-21T06:47:49.963Z,1755758869.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105686 target range: 69.909798 and range: 68.30 m.
2025-08-21T06:47:50.345Z,1755758870.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:50.350Z,1755758870.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 65.895264 m,
      bearing: 131.320144 deg,
      approach rate: -0.577849 m/s,
      LOS rate: 0.001412 deg/s,
      cmd heading: 120.646904 deg,
      new cmd heading: 120.648540 deg.

2025-08-21T06:47:50.352Z,1755758870.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105714 target range: 69.909798 and range: 68.30 m.
2025-08-21T06:47:50.770Z,1755758870.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:50.773Z,1755758870.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 65.638931 m,
      bearing: 131.321665 deg,
      approach rate: -0.603727 m/s,
      LOS rate: 0.003597 deg/s,
      cmd heading: 120.648543 deg,
      new cmd heading: 120.653126 deg.

2025-08-21T06:47:50.774Z,1755758870.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105794 target range: 69.909798 and range: 68.30 m.
2025-08-21T06:47:51.149Z,1755758871.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:51.152Z,1755758871.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:51.157Z,1755758871.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 65.417831 m,
      bearing: 131.322964 deg,
      approach rate: -0.578650 m/s,
      LOS rate: 0.003411 deg/s,
      cmd heading: 120.653120 deg,
      new cmd heading: 120.657030 deg.

2025-08-21T06:47:51.158Z,1755758871.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105862 target range: 69.909798 and range: 68.30 m.
2025-08-21T06:47:51.252Z,1755758871.252 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:51.252Z,1755758871.252 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:51.253Z,1755758871.253 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:51.504Z,1755758871.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004446
2025-08-21T06:47:51.576Z,1755758871.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:51.578Z,1755758871.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 65.174934 m,
      bearing: 131.324261 deg,
      approach rate: -0.579809 m/s,
      LOS rate: 0.003107 deg/s,
      cmd heading: 120.657027 deg,
      new cmd heading: 120.660931 deg.

2025-08-21T06:47:51.583Z,1755758871.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105931 target range: 69.909798 and range: 68.30 m.
2025-08-21T06:47:51.757Z,1755758871.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256832
2025-08-21T06:47:51.976Z,1755758871.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:51.979Z,1755758871.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 64.926079 m,
      bearing: 131.323938 deg,
      approach rate: -0.614439 m/s,
      LOS rate: -0.000800 deg/s,
      cmd heading: 120.660933 deg,
      new cmd heading: 120.659961 deg.

2025-08-21T06:47:51.980Z,1755758871.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105914 target range: 69.909798 and range: 68.30 m.
2025-08-21T06:47:52.008Z,1755758872.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508615
2025-08-21T06:47:52.260Z,1755758872.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760421
2025-08-21T06:47:52.397Z,1755758872.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:52.400Z,1755758872.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 64.678062 m,
      bearing: 131.323643 deg,
      approach rate: -0.589331 m/s,
      LOS rate: -0.000704 deg/s,
      cmd heading: 120.659964 deg,
      new cmd heading: 120.659075 deg.

2025-08-21T06:47:52.401Z,1755758872.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105898 target range: 69.909798 and range: 68.30 m.
2025-08-21T06:47:52.512Z,1755758872.512 [DAT](INFO): DAT read: Rx Time:06:47:51.1667

2025-08-21T06:47:52.513Z,1755758872.513 [DAT](INFO): Rx dataTimestamp_ set to:1755758872.512360
2025-08-21T06:47:52.513Z,1755758872.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013375
2025-08-21T06:47:52.764Z,1755758872.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264444
2025-08-21T06:47:52.784Z,1755758872.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 69.91 m.
2025-08-21T06:47:52.787Z,1755758872.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 69.909798 m,
      nav range: 64.442978 m,
      bearing: 131.323798 deg,
      approach rate: -0.607050 m/s,
      LOS rate: 0.000403 deg/s,
      cmd heading: 120.659076 deg,
      new cmd heading: 120.659544 deg.

2025-08-21T06:47:52.808Z,1755758872.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105906 target range: 69.909798 and range: 68.30 m.
2025-08-21T06:47:53.022Z,1755758873.022 [DAT](INFO): DAT read: 06:47:51.1667 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 419,-0.03, 0.502,-1.481, 0.245, 0.160, PHS= 0.445,-1.596, 0.042, RAW= 139.3,  11.8, CAL= 138.6,  12.8, ROT=  11.4, -12.8

2025-08-21T06:47:53.023Z,1755758873.023 [DAT](INFO): got valid direction response:
 06:47:51.1667 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 419,-0.03, 0.502,-1.481, 0.245, 0.160, PHS= 0.445,-1.596, 0.042, RAW= 139.3,  11.8, CAL= 138.6,  12.8, ROT=  11.4, -12.8

2025-08-21T06:47:53.024Z,1755758873.024 [DAT](INFO): DAT read: Bearing 286.9,   8.7 (Local)

2025-08-21T06:47:53.024Z,1755758873.024 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.9,   8.7 (Local)

2025-08-21T06:47:53.026Z,1755758873.026 [DAT](INFO): DAT read: Range 11 to 50 : 66.0 m  (Round-trip  88.1 ms) speed  0.6 m/s

2025-08-21T06:47:53.026Z,1755758873.026 [DAT](INFO): DAT read: user:1910>

2025-08-21T06:47:53.028Z,1755758873.028 [DAT](INFO): DAT read: Tx time:06:47:52.2745

2025-08-21T06:47:53.028Z,1755758873.028 [DAT](INFO): Ping request sent.
2025-08-21T06:47:53.028Z,1755758873.028 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:53.028Z,1755758873.028 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:53.029Z,1755758873.029 [DAT](INFO): direction in FSK: [0.955911,0.192745,0.221548]
2025-08-21T06:47:53.030Z,1755758873.030 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:53.030Z,1755758873.030 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:53.033Z,1755758873.033 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:53.033Z,1755758873.033 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:53.256Z,1755758873.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.000000 m,
      deltaT: 3.527943 s,
      deltaX: -2.300003 m,
      approachRate: -0.651939 m/s,
      rangeRepo size: 4

2025-08-21T06:47:53.258Z,1755758873.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.632889 m,
      bearing: 131.937218 deg,
      lat: 36.779360 deg,
      lon: -121.859461 deg,
      deltaT: 7.307955 s,
      deltaX: -4.276909 m,
      approachRate: -0.585240 m/s,
      posRepo size: 4

2025-08-21T06:47:53.258Z,1755758873.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m.
2025-08-21T06:47:53.265Z,1755758873.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.632889 m,
      nav range: 64.792114 m,
      bearing: 131.581540 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000403 deg/s,
      cmd heading: 120.659540 deg,
      new cmd heading: 120.660104 deg.

2025-08-21T06:47:53.266Z,1755758873.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105916 target range: 65.632889 and range: 66.00 m.
2025-08-21T06:47:53.584Z,1755758873.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:53.586Z,1755758873.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m.
2025-08-21T06:47:53.606Z,1755758873.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.632889 m,
      nav range: 64.578506 m,
      bearing: 131.582528 deg,
      approach rate: -0.637165 m/s,
      LOS rate: 0.002956 deg/s,
      cmd heading: 120.660100 deg,
      new cmd heading: 120.663073 deg.

2025-08-21T06:47:53.607Z,1755758873.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105968 target range: 65.632889 and range: 66.00 m.
2025-08-21T06:47:53.772Z,1755758873.772 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:53.772Z,1755758873.772 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:53.772Z,1755758873.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:54.024Z,1755758874.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996230
2025-08-21T06:47:54.026Z,1755758874.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m.
2025-08-21T06:47:54.028Z,1755758874.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.632889 m,
      nav range: 64.312157 m,
      bearing: 131.581802 deg,
      approach rate: -0.609201 m/s,
      LOS rate: -0.001667 deg/s,
      cmd heading: 120.663078 deg,
      new cmd heading: 120.660892 deg.

2025-08-21T06:47:54.029Z,1755758874.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105930 target range: 65.632889 and range: 66.00 m.
2025-08-21T06:47:54.277Z,1755758874.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248456
2025-08-21T06:47:54.406Z,1755758874.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m.
2025-08-21T06:47:54.409Z,1755758874.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.632889 m,
      nav range: 64.079033 m,
      bearing: 131.581167 deg,
      approach rate: -0.608505 m/s,
      LOS rate: -0.001664 deg/s,
      cmd heading: 120.660892 deg,
      new cmd heading: 120.658980 deg.

2025-08-21T06:47:54.410Z,1755758874.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105896 target range: 65.632889 and range: 66.00 m.
2025-08-21T06:47:54.528Z,1755758874.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500301
2025-08-21T06:47:54.780Z,1755758874.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752185
2025-08-21T06:47:54.853Z,1755758874.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m.
2025-08-21T06:47:54.861Z,1755758874.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.632889 m,
      nav range: 63.829552 m,
      bearing: 131.578442 deg,
      approach rate: -0.559107 m/s,
      LOS rate: -0.006132 deg/s,
      cmd heading: 120.658980 deg,
      new cmd heading: 120.650772 deg.

2025-08-21T06:47:54.862Z,1755758874.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105753 target range: 65.632889 and range: 66.00 m.
2025-08-21T06:47:55.032Z,1755758875.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004382
2025-08-21T06:47:55.211Z,1755758875.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m.
2025-08-21T06:47:55.214Z,1755758875.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.632889 m,
      nav range: 63.589870 m,
      bearing: 131.575757 deg,
      approach rate: -0.669177 m/s,
      LOS rate: -0.007525 deg/s,
      cmd heading: 120.650770 deg,
      new cmd heading: 120.642684 deg.

2025-08-21T06:47:55.215Z,1755758875.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105612 target range: 65.632889 and range: 66.00 m.
2025-08-21T06:47:55.286Z,1755758875.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258099
2025-08-21T06:47:55.536Z,1755758875.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508122
2025-08-21T06:47:55.604Z,1755758875.604 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:55.606Z,1755758875.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m.
2025-08-21T06:47:55.609Z,1755758875.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.632889 m,
      nav range: 63.349384 m,
      bearing: 131.573033 deg,
      approach rate: -0.608792 m/s,
      LOS rate: -0.006921 deg/s,
      cmd heading: 120.642683 deg,
      new cmd heading: 120.634482 deg.

2025-08-21T06:47:55.610Z,1755758875.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105469 target range: 65.632889 and range: 66.00 m.
2025-08-21T06:47:55.788Z,1755758875.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760191
2025-08-21T06:47:56.033Z,1755758876.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m.
2025-08-21T06:47:56.036Z,1755758876.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.632889 m,
      nav range: 63.092690 m,
      bearing: 131.572021 deg,
      approach rate: -0.601157 m/s,
      LOS rate: -0.002380 deg/s,
      cmd heading: 120.634487 deg,
      new cmd heading: 120.631438 deg.

2025-08-21T06:47:56.037Z,1755758876.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105416 target range: 65.632889 and range: 66.00 m.
2025-08-21T06:47:56.040Z,1755758876.040 [DAT](INFO): DAT read: Rx Time:06:47:54.7637

2025-08-21T06:47:56.041Z,1755758876.041 [DAT](INFO): Rx dataTimestamp_ set to:1755758876.040623
2025-08-21T06:47:56.041Z,1755758876.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013383
2025-08-21T06:47:56.292Z,1755758876.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264103
2025-08-21T06:47:56.413Z,1755758876.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.63 m.
2025-08-21T06:47:56.416Z,1755758876.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.632889 m,
      nav range: 62.864525 m,
      bearing: 131.571175 deg,
      approach rate: -0.600631 m/s,
      LOS rate: -0.002236 deg/s,
      cmd heading: 120.631441 deg,
      new cmd heading: 120.628893 deg.

2025-08-21T06:47:56.417Z,1755758876.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105371 target range: 65.632889 and range: 66.00 m.
2025-08-21T06:47:56.552Z,1755758876.552 [DAT](INFO): DAT read: 06:47:54.7637 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 404,-0.02,-0.656,-2.656,-0.929,-1.006, PHS= 0.452,-1.605, 0.034, RAW= 138.9,  11.9, CAL= 138.3,  12.9, ROT=  11.7, -12.9

2025-08-21T06:47:56.554Z,1755758876.554 [DAT](INFO): got valid direction response:
 06:47:54.7637 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 404,-0.02,-0.656,-2.656,-0.929,-1.006, PHS= 0.452,-1.605, 0.034, RAW= 138.9,  11.9, CAL= 138.3,  12.9, ROT=  11.7, -12.9

2025-08-21T06:47:56.556Z,1755758876.556 [DAT](INFO): DAT read: Bearing 286.7,   8.7 (Local)

2025-08-21T06:47:56.556Z,1755758876.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.7,   8.7 (Local)

2025-08-21T06:47:56.558Z,1755758876.558 [DAT](INFO): DAT read: Range 11 to 50 : 63.8 m  (Round-trip  85.1 ms) speed  0.6 m/s

2025-08-21T06:47:56.561Z,1755758876.561 [DAT](INFO): DAT read: user:1911>

2025-08-21T06:47:56.562Z,1755758876.562 [DAT](INFO): DAT read: Tx time:06:47:55.8745

2025-08-21T06:47:56.562Z,1755758876.562 [DAT](INFO): Ping request sent.
2025-08-21T06:47:56.562Z,1755758876.562 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:47:56.563Z,1755758876.563 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:47:56.569Z,1755758876.569 [DAT](INFO): direction in FSK: [0.954508,0.197669,0.223250]
2025-08-21T06:47:56.569Z,1755758876.569 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:56.570Z,1755758876.570 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:56.577Z,1755758876.577 [DAT](INFO): publishing transmit ping time
2025-08-21T06:47:56.577Z,1755758876.577 [DAT](INFO): publishing direction and range info
2025-08-21T06:47:56.901Z,1755758876.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.799999 m,
      deltaT: 3.530062 s,
      deltaX: -2.200001 m,
      approachRate: -0.623219 m/s,
      rangeRepo size: 4

2025-08-21T06:47:56.907Z,1755758876.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.444981 m,
      bearing: 132.201912 deg,
      lat: 36.779358 deg,
      lon: -121.859464 deg,
      deltaT: 3.530062 s,
      deltaX: -2.187908 m,
      approachRate: -0.619793 m/s,
      posRepo size: 4

2025-08-21T06:47:56.908Z,1755758876.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.44 m.
2025-08-21T06:47:56.911Z,1755758876.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.444981 m,
      nav range: 62.499157 m,
      bearing: 131.861880 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.002236 deg/s,
      cmd heading: 120.628900 deg,
      new cmd heading: 120.625629 deg.

2025-08-21T06:47:56.916Z,1755758876.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105314 target range: 63.444981 and range: 63.80 m.
2025-08-21T06:47:57.245Z,1755758877.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.44 m.
2025-08-21T06:47:57.248Z,1755758877.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.444981 m,
      nav range: 62.283390 m,
      bearing: 131.860431 deg,
      approach rate: -0.625446 m/s,
      LOS rate: -0.004217 deg/s,
      cmd heading: 120.625635 deg,
      new cmd heading: 120.621271 deg.

2025-08-21T06:47:57.249Z,1755758877.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105238 target range: 63.444981 and range: 63.80 m.
2025-08-21T06:47:57.782Z,1755758877.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:57.785Z,1755758877.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.44 m.
2025-08-21T06:47:57.788Z,1755758877.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.444981 m,
      nav range: 61.962856 m,
      bearing: 131.859698 deg,
      approach rate: -0.593636 m/s,
      LOS rate: -0.001364 deg/s,
      cmd heading: 120.621277 deg,
      new cmd heading: 120.619068 deg.

2025-08-21T06:47:57.789Z,1755758877.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105200 target range: 63.444981 and range: 63.80 m.
2025-08-21T06:47:57.808Z,1755758877.808 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:47:57.808Z,1755758877.808 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:47:57.808Z,1755758877.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:47:58.060Z,1755758878.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497905
2025-08-21T06:47:58.197Z,1755758878.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.44 m.
2025-08-21T06:47:58.204Z,1755758878.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.444981 m,
      nav range: 61.742153 m,
      bearing: 131.859303 deg,
      approach rate: -0.536251 m/s,
      LOS rate: -0.000962 deg/s,
      cmd heading: 120.619064 deg,
      new cmd heading: 120.617876 deg.

2025-08-21T06:47:58.205Z,1755758878.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105179 target range: 63.444981 and range: 63.80 m.
2025-08-21T06:47:58.312Z,1755758878.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749961
2025-08-21T06:47:58.564Z,1755758878.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001872
2025-08-21T06:47:58.634Z,1755758878.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.44 m.
2025-08-21T06:47:58.636Z,1755758878.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.444981 m,
      nav range: 61.464161 m,
      bearing: 131.858812 deg,
      approach rate: -0.652569 m/s,
      LOS rate: -0.001159 deg/s,
      cmd heading: 120.617876 deg,
      new cmd heading: 120.616395 deg.

2025-08-21T06:47:58.637Z,1755758878.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105153 target range: 63.444981 and range: 63.80 m.
2025-08-21T06:47:58.817Z,1755758878.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254558
2025-08-21T06:47:59.068Z,1755758879.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505986
2025-08-21T06:47:59.074Z,1755758879.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.44 m.
2025-08-21T06:47:59.081Z,1755758879.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.444981 m,
      nav range: 61.195084 m,
      bearing: 131.862584 deg,
      approach rate: -0.596686 m/s,
      LOS rate: 0.008402 deg/s,
      cmd heading: 120.616401 deg,
      new cmd heading: 120.627768 deg.

2025-08-21T06:47:59.082Z,1755758879.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105352 target range: 63.444981 and range: 63.80 m.
2025-08-21T06:47:59.321Z,1755758879.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758692
2025-08-21T06:47:59.400Z,1755758879.400 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:47:59.408Z,1755758879.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.44 m.
2025-08-21T06:47:59.411Z,1755758879.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.444981 m,
      nav range: 60.987999 m,
      bearing: 131.865797 deg,
      approach rate: -0.619406 m/s,
      LOS rate: 0.009643 deg/s,
      cmd heading: 120.627766 deg,
      new cmd heading: 120.637438 deg.

2025-08-21T06:47:59.412Z,1755758879.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105520 target range: 63.444981 and range: 63.80 m.
2025-08-21T06:47:59.572Z,1755758879.572 [DAT](INFO): DAT read: Rx Time:06:47:58.3610

2025-08-21T06:47:59.573Z,1755758879.573 [DAT](INFO): Rx dataTimestamp_ set to:1755758879.572441
2025-08-21T06:47:59.573Z,1755758879.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010913
2025-08-21T06:47:59.825Z,1755758879.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262518
2025-08-21T06:47:59.885Z,1755758879.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:47:59.891Z,1755758879.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.44 m.
2025-08-21T06:47:59.894Z,1755758879.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.444981 m,
      nav range: 60.699715 m,
      bearing: 131.869697 deg,
      approach rate: -0.601869 m/s,
      LOS rate: 0.008179 deg/s,
      cmd heading: 120.637438 deg,
      new cmd heading: 120.649190 deg.

2025-08-21T06:47:59.895Z,1755758879.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105726 target range: 63.444981 and range: 63.80 m.
2025-08-21T06:48:00.083Z,1755758880.083 [DAT](INFO): DAT read: 06:47:58.3610 LVL= 31360, 32753, 32754, 32755, AGC= 67, IDX= 408,-0.19,-0.377,-2.337,-0.657,-0.742, PHS= 0.467,-1.550, 0.042, RAW= 138.5,  11.3, CAL= 137.9,  12.3, ROT=  12.1, -12.3

2025-08-21T06:48:00.084Z,1755758880.084 [DAT](INFO): got valid direction response:
 06:47:58.3610 LVL= 31360, 32753, 32754, 32755, AGC= 67, IDX= 408,-0.19,-0.377,-2.337,-0.657,-0.742, PHS= 0.467,-1.550, 0.042, RAW= 138.5,  11.3, CAL= 137.9,  12.3, ROT=  12.1, -12.3

2025-08-21T06:48:00.085Z,1755758880.085 [DAT](INFO): DAT read: Bearing 286.0,   8.7 (Local)

2025-08-21T06:48:00.085Z,1755758880.085 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.0,   8.7 (Local)

2025-08-21T06:48:00.087Z,1755758880.087 [DAT](INFO): DAT read: Range 11 to 50 : 61.8 m  (Round-trip  82.4 ms) speed  0.4 m/s

2025-08-21T06:48:00.088Z,1755758880.088 [DAT](INFO): DAT read: user:1912>

2025-08-21T06:48:00.088Z,1755758880.088 [DAT](INFO): DAT read: Tx time:06:47:59.4745

2025-08-21T06:48:00.089Z,1755758880.089 [DAT](INFO): Ping request sent.
2025-08-21T06:48:00.089Z,1755758880.089 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:00.089Z,1755758880.089 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:00.090Z,1755758880.090 [DAT](INFO): direction in FSK: [0.955339,0.204807,0.213030]
2025-08-21T06:48:00.090Z,1755758880.090 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:00.090Z,1755758880.090 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:00.094Z,1755758880.094 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:00.094Z,1755758880.094 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:00.286Z,1755758880.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.799999 m,
      deltaT: 3.530943 s,
      deltaX: -2.000000 m,
      approachRate: -0.566421 m/s,
      rangeRepo size: 4

2025-08-21T06:48:00.292Z,1755758880.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.455746 m,
      bearing: 132.446349 deg,
      lat: 36.779357 deg,
      lon: -121.859465 deg,
      deltaT: 3.530943 s,
      deltaX: -1.989235 m,
      approachRate: -0.563372 m/s,
      posRepo size: 4

2025-08-21T06:48:00.293Z,1755758880.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m.
2025-08-21T06:48:00.300Z,1755758880.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.455746 m,
      nav range: 60.454628 m,
      bearing: 132.037084 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008179 deg/s,
      cmd heading: 120.649185 deg,
      new cmd heading: 120.658948 deg.

2025-08-21T06:48:00.301Z,1755758880.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105896 target range: 61.455746 and range: 61.80 m.
2025-08-21T06:48:00.404Z,1755758880.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:48:00.676Z,1755758880.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m.
2025-08-21T06:48:00.679Z,1755758880.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.455746 m,
      nav range: 60.222820 m,
      bearing: 132.040969 deg,
      approach rate: -0.592562 m/s,
      LOS rate: 0.009969 deg/s,
      cmd heading: 120.658953 deg,
      new cmd heading: 120.670652 deg.

2025-08-21T06:48:00.688Z,1755758880.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106100 target range: 61.455746 and range: 61.80 m.
2025-08-21T06:48:01.088Z,1755758881.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m.
2025-08-21T06:48:01.090Z,1755758881.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.455746 m,
      nav range: 59.960140 m,
      bearing: 132.044899 deg,
      approach rate: -0.638194 m/s,
      LOS rate: 0.009590 deg/s,
      cmd heading: 120.670646 deg,
      new cmd heading: 120.682488 deg.

2025-08-21T06:48:01.092Z,1755758881.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106307 target range: 61.455746 and range: 61.80 m.
2025-08-21T06:48:01.484Z,1755758881.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m.
2025-08-21T06:48:01.487Z,1755758881.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.455746 m,
      nav range: 59.721909 m,
      bearing: 132.048546 deg,
      approach rate: -0.601422 m/s,
      LOS rate: 0.009243 deg/s,
      cmd heading: 120.682490 deg,
      new cmd heading: 120.693473 deg.

2025-08-21T06:48:01.492Z,1755758881.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106498 target range: 61.455746 and range: 61.80 m.
2025-08-21T06:48:01.905Z,1755758881.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:01.907Z,1755758881.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m.
2025-08-21T06:48:01.910Z,1755758881.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.455746 m,
      nav range: 59.465508 m,
      bearing: 132.055064 deg,
      approach rate: -0.606215 m/s,
      LOS rate: 0.015478 deg/s,
      cmd heading: 120.693472 deg,
      new cmd heading: 120.713112 deg.

2025-08-21T06:48:01.911Z,1755758881.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106841 target range: 61.455746 and range: 61.80 m.
2025-08-21T06:48:02.092Z,1755758882.092 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:02.092Z,1755758882.092 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:02.092Z,1755758882.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:02.288Z,1755758882.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m.
2025-08-21T06:48:02.291Z,1755758882.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.455746 m,
      nav range: 59.233662 m,
      bearing: 132.061007 deg,
      approach rate: -0.607828 m/s,
      LOS rate: 0.015641 deg/s,
      cmd heading: 120.713116 deg,
      new cmd heading: 120.731014 deg.

2025-08-21T06:48:02.292Z,1755758882.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107154 target range: 61.455746 and range: 61.80 m.
2025-08-21T06:48:02.344Z,1755758882.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255665
2025-08-21T06:48:02.597Z,1755758882.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507917
2025-08-21T06:48:02.690Z,1755758882.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m.
2025-08-21T06:48:02.697Z,1755758882.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.455746 m,
      nav range: 58.995068 m,
      bearing: 132.067128 deg,
      approach rate: -0.594446 m/s,
      LOS rate: 0.015311 deg/s,
      cmd heading: 120.731011 deg,
      new cmd heading: 120.749447 deg.

2025-08-21T06:48:02.698Z,1755758882.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107476 target range: 61.455746 and range: 61.80 m.
2025-08-21T06:48:02.848Z,1755758882.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759573
2025-08-21T06:48:03.100Z,1755758883.100 [DAT](INFO): DAT read: Rx Time:06:48:01.9580

2025-08-21T06:48:03.101Z,1755758883.101 [DAT](INFO): Rx dataTimestamp_ set to:1755758883.100470
2025-08-21T06:48:03.101Z,1755758883.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012603
2025-08-21T06:48:03.157Z,1755758883.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m.
2025-08-21T06:48:03.202Z,1755758883.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.455746 m,
      nav range: 58.718224 m,
      bearing: 132.072402 deg,
      approach rate: -0.592592 m/s,
      LOS rate: 0.011344 deg/s,
      cmd heading: 120.749453 deg,
      new cmd heading: 120.765351 deg.

2025-08-21T06:48:03.212Z,1755758883.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107753 target range: 61.455746 and range: 61.80 m.
2025-08-21T06:48:03.352Z,1755758883.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263519
2025-08-21T06:48:03.561Z,1755758883.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m.
2025-08-21T06:48:03.564Z,1755758883.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.455746 m,
      nav range: 58.475792 m,
      bearing: 132.076821 deg,
      approach rate: -0.599593 m/s,
      LOS rate: 0.010973 deg/s,
      cmd heading: 120.765353 deg,
      new cmd heading: 120.778663 deg.

2025-08-21T06:48:03.565Z,1755758883.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107985 target range: 61.455746 and range: 61.80 m.
2025-08-21T06:48:03.606Z,1755758883.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516832
2025-08-21T06:48:03.862Z,1755758883.862 [DAT](INFO): DAT read: 06:48:01.9580 LVL= 31136, 32753, 32754, 32755, AGC= 72, IDX= 409, 0.13, 1.984, 0.032, 1.720, 1.632, PHS= 0.454,-1.555, 0.044, RAW= 138.9,  11.5, CAL= 138.3,  12.5, ROT=  11.7, -12.5

2025-08-21T06:48:03.863Z,1755758883.863 [DAT](INFO): got valid direction response:
 06:48:01.9580 LVL= 31136, 32753, 32754, 32755, AGC= 72, IDX= 409, 0.13, 1.984, 0.032, 1.720, 1.632, PHS= 0.454,-1.555, 0.044, RAW= 138.9,  11.5, CAL= 138.3,  12.5, ROT=  11.7, -12.5

2025-08-21T06:48:03.864Z,1755758883.864 [DAT](INFO): DAT read: Bearing 286.1,   8.2 (Local)

2025-08-21T06:48:03.864Z,1755758883.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.1,   8.2 (Local)

2025-08-21T06:48:03.866Z,1755758883.866 [DAT](INFO): DAT read: Range 11 to 50 : 59.4 m  (Round-trip  79.3 ms) speed  0.6 m/s

2025-08-21T06:48:03.866Z,1755758883.866 [DAT](INFO): DAT read: user:1913>

2025-08-21T06:48:03.867Z,1755758883.867 [DAT](INFO): DAT read: Tx time:06:48:03.0745

2025-08-21T06:48:03.868Z,1755758883.868 [DAT](INFO): Ping request sent.
2025-08-21T06:48:03.868Z,1755758883.868 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:03.868Z,1755758883.868 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:03.869Z,1755758883.869 [DAT](INFO): direction in FSK: [0.956011,0.197980,0.216440]
2025-08-21T06:48:03.869Z,1755758883.869 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:03.869Z,1755758883.869 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:03.873Z,1755758883.873 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:03.873Z,1755758883.873 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:04.037Z,1755758884.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.400002 m,
      deltaT: 3.778996 s,
      deltaX: -2.399998 m,
      approachRate: -0.635089 m/s,
      rangeRepo size: 4

2025-08-21T06:48:04.044Z,1755758884.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.068756 m,
      bearing: 132.162772 deg,
      lat: 36.779356 deg,
      lon: -121.859465 deg,
      deltaT: 3.778996 s,
      deltaX: -2.386990 m,
      approachRate: -0.631647 m/s,
      posRepo size: 4

2025-08-21T06:48:04.045Z,1755758884.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:04.045Z,1755758884.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:04.056Z,1755758884.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 58.298908 m,
      bearing: 132.192115 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.010973 deg/s,
      cmd heading: 120.778659 deg,
      new cmd heading: 120.794311 deg.

2025-08-21T06:48:04.057Z,1755758884.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108258 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:04.082Z,1755758884.082 [DockingStepper](INFO): Changing to mode: 2
2025-08-21T06:48:04.436Z,1755758884.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:04.438Z,1755758884.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:04.443Z,1755758884.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:04.446Z,1755758884.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 58.052158 m,
      bearing: 132.197604 deg,
      approach rate: -0.614220 m/s,
      LOS rate: 0.013721 deg/s,
      cmd heading: 120.794313 deg,
      new cmd heading: 120.810850 deg.

2025-08-21T06:48:04.447Z,1755758884.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108547 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:04.612Z,1755758884.612 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:04.612Z,1755758884.612 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:04.612Z,1755758884.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:04.864Z,1755758884.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996720
2025-08-21T06:48:04.898Z,1755758884.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:04.898Z,1755758884.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:04.925Z,1755758884.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 57.757969 m,
      bearing: 132.204054 deg,
      approach rate: -0.640337 m/s,
      LOS rate: 0.014111 deg/s,
      cmd heading: 120.810856 deg,
      new cmd heading: 120.830305 deg.

2025-08-21T06:48:04.926Z,1755758884.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108887 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:05.116Z,1755758885.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248483
2025-08-21T06:48:05.256Z,1755758885.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:05.256Z,1755758885.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:05.259Z,1755758885.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 57.535358 m,
      bearing: 132.209008 deg,
      approach rate: -0.621765 m/s,
      LOS rate: 0.013891 deg/s,
      cmd heading: 120.830308 deg,
      new cmd heading: 120.845229 deg.

2025-08-21T06:48:05.260Z,1755758885.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109147 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:05.369Z,1755758885.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501141
2025-08-21T06:48:05.620Z,1755758885.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752497
2025-08-21T06:48:05.657Z,1755758885.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:05.657Z,1755758885.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:05.660Z,1755758885.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 57.285572 m,
      bearing: 132.214684 deg,
      approach rate: -0.623156 m/s,
      LOS rate: 0.014222 deg/s,
      cmd heading: 120.845226 deg,
      new cmd heading: 120.862328 deg.

2025-08-21T06:48:05.661Z,1755758885.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109446 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:05.872Z,1755758885.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004576
2025-08-21T06:48:06.094Z,1755758886.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:06.094Z,1755758886.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:06.097Z,1755758886.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 57.022305 m,
      bearing: 132.213446 deg,
      approach rate: -0.602817 m/s,
      LOS rate: -0.002848 deg/s,
      cmd heading: 120.862328 deg,
      new cmd heading: 120.858597 deg.

2025-08-21T06:48:06.098Z,1755758886.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109380 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:06.124Z,1755758886.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256534
2025-08-21T06:48:06.377Z,1755758886.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509040
2025-08-21T06:48:06.478Z,1755758886.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:06.488Z,1755758886.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:06.489Z,1755758886.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:06.500Z,1755758886.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 56.794498 m,
      bearing: 132.212297 deg,
      approach rate: -0.577338 m/s,
      LOS rate: -0.002923 deg/s,
      cmd heading: 120.858599 deg,
      new cmd heading: 120.855139 deg.

2025-08-21T06:48:06.501Z,1755758886.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109320 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:06.628Z,1755758886.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760533
2025-08-21T06:48:06.884Z,1755758886.884 [DAT](INFO): DAT read: Rx Time:06:48:05.5550

2025-08-21T06:48:06.885Z,1755758886.885 [DAT](INFO): Rx dataTimestamp_ set to:1755758886.884199
2025-08-21T06:48:06.888Z,1755758886.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018983
2025-08-21T06:48:06.969Z,1755758886.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:06.969Z,1755758886.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:06.976Z,1755758886.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 56.496876 m,
      bearing: 132.211030 deg,
      approach rate: -0.619443 m/s,
      LOS rate: -0.002650 deg/s,
      cmd heading: 120.855143 deg,
      new cmd heading: 120.851324 deg.

2025-08-21T06:48:06.977Z,1755758886.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109253 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:07.132Z,1755758887.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264474
2025-08-21T06:48:07.302Z,1755758887.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:07.320Z,1755758887.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:07.325Z,1755758887.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 56.290897 m,
      bearing: 132.210151 deg,
      approach rate: -0.618831 m/s,
      LOS rate: -0.002653 deg/s,
      cmd heading: 120.851318 deg,
      new cmd heading: 120.848669 deg.

2025-08-21T06:48:07.327Z,1755758887.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109207 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:07.391Z,1755758887.391 [DAT](INFO): DAT read: 06:48:05.5550 LVL= 26544, 32753, 32754, 32755, AGC= 65, IDX= 411, 0.29, 0.432,-1.480, 0.183, 0.105, PHS= 0.429,-1.540, 0.034, RAW= 139.1,  11.9, CAL= 138.4,  12.9, ROT=  11.6, -12.9

2025-08-21T06:48:07.392Z,1755758887.392 [DAT](INFO): got valid direction response:
 06:48:05.5550 LVL= 26544, 32753, 32754, 32755, AGC= 65, IDX= 411, 0.29, 0.432,-1.480, 0.183, 0.105, PHS= 0.429,-1.540, 0.034, RAW= 139.1,  11.9, CAL= 138.4,  12.9, ROT=  11.6, -12.9

2025-08-21T06:48:07.392Z,1755758887.392 [DAT](INFO): DAT read: $Error in header

2025-08-21T06:48:07.393Z,1755758887.393 [DAT](INFO): Received a bad header
2025-08-21T06:48:07.404Z,1755758887.404 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T06:48:07.405Z,1755758887.405 [DAT](INFO): direction in FSK: [0.954852,0.196003,0.223250]
2025-08-21T06:48:07.410Z,1755758887.410 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:07.410Z,1755758887.410 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:07.410Z,1755758887.410 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:07.636Z,1755758887.636 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:07.636Z,1755758887.636 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:07.636Z,1755758887.636 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:07.689Z,1755758887.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:07.690Z,1755758887.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:07.697Z,1755758887.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 56.061668 m,
      bearing: 132.209283 deg,
      approach rate: -0.591192 m/s,
      LOS rate: -0.002246 deg/s,
      cmd heading: 120.848668 deg,
      new cmd heading: 120.846056 deg.

2025-08-21T06:48:07.698Z,1755758887.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109162 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:07.892Z,1755758887.892 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:07.892Z,1755758887.892 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:07.892Z,1755758887.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:08.118Z,1755758888.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:08.119Z,1755758888.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:08.121Z,1755758888.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 55.791203 m,
      bearing: 132.209192 deg,
      approach rate: -0.630631 m/s,
      LOS rate: -0.000214 deg/s,
      cmd heading: 120.846059 deg,
      new cmd heading: 120.845784 deg.

2025-08-21T06:48:08.122Z,1755758888.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109157 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:08.141Z,1755758888.141 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:08.141Z,1755758888.141 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:08.141Z,1755758888.141 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:08.393Z,1755758888.393 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:08.393Z,1755758888.393 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:08.393Z,1755758888.393 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:08.501Z,1755758888.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:08.504Z,1755758888.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:08.504Z,1755758888.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:08.507Z,1755758888.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 55.555405 m,
      bearing: 132.209033 deg,
      approach rate: -0.612182 m/s,
      LOS rate: -0.000416 deg/s,
      cmd heading: 120.845786 deg,
      new cmd heading: 120.845305 deg.

2025-08-21T06:48:08.508Z,1755758888.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109149 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:08.644Z,1755758888.644 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:08.644Z,1755758888.644 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:08.644Z,1755758888.644 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:08.898Z,1755758888.898 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:08.899Z,1755758888.899 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:08.899Z,1755758888.899 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:08.998Z,1755758888.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:08.998Z,1755758888.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:09.005Z,1755758889.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 55.268543 m,
      bearing: 132.204237 deg,
      approach rate: -0.580061 m/s,
      LOS rate: -0.009748 deg/s,
      cmd heading: 120.845308 deg,
      new cmd heading: 120.830845 deg.

2025-08-21T06:48:09.006Z,1755758889.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108896 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:09.148Z,1755758889.148 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:09.149Z,1755758889.149 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:09.149Z,1755758889.149 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:09.352Z,1755758889.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:09.353Z,1755758889.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:09.356Z,1755758889.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 55.055004 m,
      bearing: 132.200526 deg,
      approach rate: -0.602065 m/s,
      LOS rate: -0.010505 deg/s,
      cmd heading: 120.830841 deg,
      new cmd heading: 120.819664 deg.

2025-08-21T06:48:09.357Z,1755758889.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108701 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:09.401Z,1755758889.401 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:09.402Z,1755758889.402 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:09.402Z,1755758889.402 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:09.652Z,1755758889.652 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:09.652Z,1755758889.652 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:09.652Z,1755758889.652 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:09.735Z,1755758889.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:09.736Z,1755758889.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:09.738Z,1755758889.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 54.829224 m,
      bearing: 132.196462 deg,
      approach rate: -0.590242 m/s,
      LOS rate: -0.010668 deg/s,
      cmd heading: 120.819667 deg,
      new cmd heading: 120.807425 deg.

2025-08-21T06:48:09.740Z,1755758889.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108487 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:09.906Z,1755758889.906 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:09.906Z,1755758889.906 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:09.907Z,1755758889.907 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:10.157Z,1755758890.157 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:10.157Z,1755758890.157 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:10.157Z,1755758890.157 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:10.178Z,1755758890.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:10.178Z,1755758890.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.40 m.
2025-08-21T06:48:10.179Z,1755758890.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 59.40 m.
2025-08-21T06:48:10.179Z,1755758890.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-21T06:48:10.186Z,1755758890.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 54.591518 m,
      bearing: 132.192748 deg,
      approach rate: -0.537276 m/s,
      LOS rate: -0.008430 deg/s,
      cmd heading: 120.807427 deg,
      new cmd heading: 120.796239 deg.

2025-08-21T06:48:10.191Z,1755758890.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108292 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:10.409Z,1755758890.409 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:10.410Z,1755758890.410 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:10.410Z,1755758890.410 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:10.543Z,1755758890.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:10.545Z,1755758890.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:10.548Z,1755758890.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 54.369793 m,
      bearing: 132.189024 deg,
      approach rate: -0.603154 m/s,
      LOS rate: -0.010174 deg/s,
      cmd heading: 120.796239 deg,
      new cmd heading: 120.785020 deg.

2025-08-21T06:48:10.549Z,1755758890.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108096 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:10.660Z,1755758890.660 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:10.660Z,1755758890.660 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:10.660Z,1755758890.660 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:10.920Z,1755758890.920 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:10.921Z,1755758890.921 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:10.921Z,1755758890.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:11.034Z,1755758891.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:11.041Z,1755758891.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 54.097164 m,
      bearing: 132.190399 deg,
      approach rate: -0.557387 m/s,
      LOS rate: 0.002827 deg/s,
      cmd heading: 120.785024 deg,
      new cmd heading: 120.789172 deg.

2025-08-21T06:48:11.042Z,1755758891.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108169 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:11.168Z,1755758891.168 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:11.169Z,1755758891.169 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:11.169Z,1755758891.169 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:11.366Z,1755758891.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:11.385Z,1755758891.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 53.904308 m,
      bearing: 132.191161 deg,
      approach rate: -0.580279 m/s,
      LOS rate: 0.002300 deg/s,
      cmd heading: 120.789177 deg,
      new cmd heading: 120.791470 deg.

2025-08-21T06:48:11.386Z,1755758891.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108209 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:11.420Z,1755758891.420 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:11.420Z,1755758891.420 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:11.420Z,1755758891.420 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:11.672Z,1755758891.672 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:11.672Z,1755758891.672 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:11.672Z,1755758891.672 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:11.779Z,1755758891.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:11.782Z,1755758891.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 53.670506 m,
      bearing: 132.191734 deg,
      approach rate: -0.566436 m/s,
      LOS rate: 0.001395 deg/s,
      cmd heading: 120.791472 deg,
      new cmd heading: 120.793199 deg.

2025-08-21T06:48:11.784Z,1755758891.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108239 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:11.926Z,1755758891.926 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:11.927Z,1755758891.927 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:11.927Z,1755758891.927 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:12.176Z,1755758892.176 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:12.177Z,1755758892.177 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:12.177Z,1755758892.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:12.289Z,1755758892.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:12.295Z,1755758892.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 53.371204 m,
      bearing: 132.187069 deg,
      approach rate: -0.587557 m/s,
      LOS rate: -0.009210 deg/s,
      cmd heading: 120.793193 deg,
      new cmd heading: 120.779119 deg.

2025-08-21T06:48:12.297Z,1755758892.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107993 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:12.428Z,1755758892.428 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:12.428Z,1755758892.428 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:12.428Z,1755758892.428 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:12.678Z,1755758892.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:12.680Z,1755758892.680 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:12.680Z,1755758892.680 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:12.680Z,1755758892.680 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:12.684Z,1755758892.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:12.691Z,1755758892.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 53.151066 m,
      bearing: 132.183604 deg,
      approach rate: -0.556134 m/s,
      LOS rate: -0.008790 deg/s,
      cmd heading: 120.779123 deg,
      new cmd heading: 120.768685 deg.

2025-08-21T06:48:12.692Z,1755758892.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107811 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:12.934Z,1755758892.934 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:12.934Z,1755758892.934 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:12.935Z,1755758892.935 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:13.185Z,1755758893.185 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:13.185Z,1755758893.185 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:13.185Z,1755758893.185 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:13.265Z,1755758893.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:13.272Z,1755758893.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 52.793503 m,
      bearing: 132.191128 deg,
      approach rate: -0.615720 m/s,
      LOS rate: 0.013044 deg/s,
      cmd heading: 120.768686 deg,
      new cmd heading: 120.791412 deg.

2025-08-21T06:48:13.273Z,1755758893.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108208 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:13.436Z,1755758893.436 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:13.436Z,1755758893.436 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:13.436Z,1755758893.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:13.675Z,1755758893.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:13.678Z,1755758893.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 52.551495 m,
      bearing: 132.194895 deg,
      approach rate: -0.590234 m/s,
      LOS rate: 0.009229 deg/s,
      cmd heading: 120.791417 deg,
      new cmd heading: 120.802770 deg.

2025-08-21T06:48:13.679Z,1755758893.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108406 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:13.688Z,1755758893.688 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:13.688Z,1755758893.688 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:13.688Z,1755758893.688 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:48:13.942Z,1755758893.942 [DAT](INFO): Reached modem response timeout
2025-08-21T06:48:13.943Z,1755758893.943 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:48:13.944Z,1755758893.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:14.062Z,1755758894.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:14.065Z,1755758894.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 52.310181 m,
      bearing: 132.197858 deg,
      approach rate: -0.623560 m/s,
      LOS rate: 0.007692 deg/s,
      cmd heading: 120.802769 deg,
      new cmd heading: 120.811700 deg.

2025-08-21T06:48:14.066Z,1755758894.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108562 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:14.192Z,1755758894.192 [DAT](INFO): Reached modem response timeout
2025-08-21T06:48:14.192Z,1755758894.192 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:48:14.192Z,1755758894.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:14.435Z,1755758894.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:14.438Z,1755758894.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 52.089260 m,
      bearing: 132.200337 deg,
      approach rate: -0.593007 m/s,
      LOS rate: 0.006682 deg/s,
      cmd heading: 120.811703 deg,
      new cmd heading: 120.819170 deg.

2025-08-21T06:48:14.439Z,1755758894.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108692 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:14.444Z,1755758894.444 [DAT](INFO): Reached modem response timeout
2025-08-21T06:48:14.444Z,1755758894.444 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:48:14.444Z,1755758894.444 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:14.696Z,1755758894.696 [DAT](INFO): Reached modem response timeout
2025-08-21T06:48:14.696Z,1755758894.696 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:48:14.697Z,1755758894.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:14.844Z,1755758894.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:14.846Z,1755758894.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:14.849Z,1755758894.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 51.846027 m,
      bearing: 132.202569 deg,
      approach rate: -0.591548 m/s,
      LOS rate: 0.005455 deg/s,
      cmd heading: 120.819175 deg,
      new cmd heading: 120.825904 deg.

2025-08-21T06:48:14.850Z,1755758894.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108810 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:14.950Z,1755758894.950 [DAT](INFO): Reached modem response timeout
2025-08-21T06:48:14.951Z,1755758894.951 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:48:14.952Z,1755758894.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:15.200Z,1755758895.200 [DAT](INFO): Reached modem response timeout
2025-08-21T06:48:15.200Z,1755758895.200 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:48:15.200Z,1755758895.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:15.316Z,1755758895.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:15.319Z,1755758895.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 51.575981 m,
      bearing: 132.197949 deg,
      approach rate: -0.574068 m/s,
      LOS rate: -0.009873 deg/s,
      cmd heading: 120.825910 deg,
      new cmd heading: 120.811977 deg.

2025-08-21T06:48:15.320Z,1755758895.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108567 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:15.452Z,1755758895.452 [DAT](INFO): Reached modem response timeout
2025-08-21T06:48:15.452Z,1755758895.452 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:48:15.452Z,1755758895.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:15.641Z,1755758895.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:15.644Z,1755758895.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 51.386677 m,
      bearing: 132.194000 deg,
      approach rate: -0.583669 m/s,
      LOS rate: -0.012221 deg/s,
      cmd heading: 120.811976 deg,
      new cmd heading: 120.800085 deg.

2025-08-21T06:48:15.645Z,1755758895.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108359 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:15.706Z,1755758895.706 [DAT](INFO): Reached modem response timeout
2025-08-21T06:48:15.707Z,1755758895.707 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:48:15.707Z,1755758895.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:15.957Z,1755758895.957 [DAT](INFO): Reached modem response timeout
2025-08-21T06:48:15.958Z,1755758895.958 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:48:15.959Z,1755758895.959 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:16.105Z,1755758896.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:16.108Z,1755758896.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 51.110527 m,
      bearing: 132.191540 deg,
      approach rate: -0.595185 m/s,
      LOS rate: -0.005332 deg/s,
      cmd heading: 120.800078 deg,
      new cmd heading: 120.792657 deg.

2025-08-21T06:48:16.109Z,1755758896.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108230 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:16.209Z,1755758896.209 [DAT](INFO): DAT read: Response Not Received

2025-08-21T06:48:16.209Z,1755758896.209 [DAT](INFO): response not received
2025-08-21T06:48:16.209Z,1755758896.209 [DAT](INFO): DAT read: user:1915>

2025-08-21T06:48:16.210Z,1755758896.210 [DAT](INFO): DAT read: Tx time:06:48:15.5245

2025-08-21T06:48:16.210Z,1755758896.210 [DAT](INFO): Ping request sent.
2025-08-21T06:48:16.210Z,1755758896.210 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:16.211Z,1755758896.211 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:16.211Z,1755758896.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-21T06:48:16.448Z,1755758896.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:16.451Z,1755758896.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 50.906048 m,
      bearing: 132.188923 deg,
      approach rate: -0.595417 m/s,
      LOS rate: -0.007650 deg/s,
      cmd heading: 120.792660 deg,
      new cmd heading: 120.784779 deg.

2025-08-21T06:48:16.452Z,1755758896.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.108092 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:16.469Z,1755758896.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258439
2025-08-21T06:48:16.720Z,1755758896.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.509777
2025-08-21T06:48:16.868Z,1755758896.868 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:16.870Z,1755758896.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:16.873Z,1755758896.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 50.661495 m,
      bearing: 132.185270 deg,
      approach rate: -0.578945 m/s,
      LOS rate: -0.008689 deg/s,
      cmd heading: 120.784778 deg,
      new cmd heading: 120.773767 deg.

2025-08-21T06:48:16.874Z,1755758896.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107900 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:16.972Z,1755758896.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762085
2025-08-21T06:48:17.224Z,1755758897.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.013812
2025-08-21T06:48:17.312Z,1755758897.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:17.319Z,1755758897.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 50.410885 m,
      bearing: 132.181739 deg,
      approach rate: -0.567248 m/s,
      LOS rate: -0.008033 deg/s,
      cmd heading: 120.773768 deg,
      new cmd heading: 120.763121 deg.

2025-08-21T06:48:17.320Z,1755758897.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107714 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:17.476Z,1755758897.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265823
2025-08-21T06:48:17.667Z,1755758897.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:17.670Z,1755758897.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 50.182102 m,
      bearing: 132.178136 deg,
      approach rate: -0.645677 m/s,
      LOS rate: -0.010214 deg/s,
      cmd heading: 120.763127 deg,
      new cmd heading: 120.752270 deg.

2025-08-21T06:48:17.670Z,1755758897.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107525 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:17.729Z,1755758897.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518299
2025-08-21T06:48:17.983Z,1755758897.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.772052
2025-08-21T06:48:18.109Z,1755758898.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:18.113Z,1755758898.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 49.927887 m,
      bearing: 132.169098 deg,
      approach rate: -0.574304 m/s,
      LOS rate: -0.020522 deg/s,
      cmd heading: 120.752267 deg,
      new cmd heading: 120.725014 deg.

2025-08-21T06:48:18.114Z,1755758898.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107049 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:18.233Z,1755758898.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022288
2025-08-21T06:48:18.468Z,1755758898.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:18.470Z,1755758898.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 49.721378 m,
      bearing: 132.161571 deg,
      approach rate: -0.576571 m/s,
      LOS rate: -0.021103 deg/s,
      cmd heading: 120.725014 deg,
      new cmd heading: 120.702339 deg.

2025-08-21T06:48:18.471Z,1755758898.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106653 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:18.484Z,1755758898.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273917
2025-08-21T06:48:18.736Z,1755758898.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525884
2025-08-21T06:48:18.882Z,1755758898.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:18.888Z,1755758898.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:18.891Z,1755758898.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 49.488945 m,
      bearing: 132.153000 deg,
      approach rate: -0.552538 m/s,
      LOS rate: -0.020469 deg/s,
      cmd heading: 120.702338 deg,
      new cmd heading: 120.676506 deg.

2025-08-21T06:48:18.899Z,1755758898.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106202 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:18.991Z,1755758898.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779731
2025-08-21T06:48:19.241Z,1755758899.241 [DAT](INFO): DAT read: Rx Time:06:48:17.9953

2025-08-21T06:48:19.241Z,1755758899.241 [DAT](INFO): Rx dataTimestamp_ set to:1755758899.240701
2025-08-21T06:48:19.242Z,1755758899.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031155
2025-08-21T06:48:19.334Z,1755758899.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:19.337Z,1755758899.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 49.227520 m,
      bearing: 132.145543 deg,
      approach rate: -0.586863 m/s,
      LOS rate: -0.016829 deg/s,
      cmd heading: 120.676506 deg,
      new cmd heading: 120.654016 deg.

2025-08-21T06:48:19.338Z,1755758899.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105810 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:19.492Z,1755758899.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281955
2025-08-21T06:48:19.731Z,1755758899.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.07 m.
2025-08-21T06:48:19.734Z,1755758899.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.068756 m,
      nav range: 49.004864 m,
      bearing: 132.138823 deg,
      approach rate: -0.560201 m/s,
      LOS rate: -0.016985 deg/s,
      cmd heading: 120.654021 deg,
      new cmd heading: 120.633769 deg.

2025-08-21T06:48:19.735Z,1755758899.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105456 target range: 59.068756 and range: 59.40 m.
2025-08-21T06:48:19.750Z,1755758899.750 [DAT](INFO): DAT read: 06:48:17.9953 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 343, 0.07,-1.245, 3.136,-1.464,-1.606, PHS= 0.463,-1.497, 0.098, RAW= 139.9,  10.4, CAL= 139.4,  11.3, ROT=  10.6, -11.3

2025-08-21T06:48:19.759Z,1755758899.759 [DAT](INFO): got valid direction response:
 06:48:17.9953 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 343, 0.07,-1.245, 3.136,-1.464,-1.606, PHS= 0.463,-1.497, 0.098, RAW= 139.9,  10.4, CAL= 139.4,  11.3, ROT=  10.6, -11.3

2025-08-21T06:48:19.760Z,1755758899.760 [DAT](INFO): DAT read: Bearing 291.2,   7.7 (Local)

2025-08-21T06:48:19.760Z,1755758899.760 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.2,   7.7 (Local)

2025-08-21T06:48:19.762Z,1755758899.762 [DAT](INFO): DAT read: Range 11 to 50 : 49.9 m  (Round-trip  66.6 ms) speed  0.4 m/s

2025-08-21T06:48:19.763Z,1755758899.763 [DAT](INFO): DAT read: user:1916>

2025-08-21T06:48:19.763Z,1755758899.763 [DAT](INFO): DAT read: Tx time:06:48:19.1245

2025-08-21T06:48:19.764Z,1755758899.764 [DAT](INFO): Ping request sent.
2025-08-21T06:48:19.764Z,1755758899.764 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:19.764Z,1755758899.764 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:19.765Z,1755758899.765 [DAT](INFO): direction in FSK: [0.963881,0.180385,0.195946]
2025-08-21T06:48:19.765Z,1755758899.765 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:19.766Z,1755758899.766 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:19.777Z,1755758899.777 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:19.777Z,1755758899.777 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:20.213Z,1755758900.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.900002 m,
      deltaT: 15.888067 s,
      deltaX: -9.500000 m,
      approachRate: -0.597933 m/s,
      rangeRepo size: 4

2025-08-21T06:48:20.219Z,1755758900.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.621693 m,
      bearing: 132.863529 deg,
      lat: 36.779355 deg,
      lon: -121.859466 deg,
      deltaT: 15.888067 s,
      deltaX: -9.447063 m,
      approachRate: -0.594601 m/s,
      posRepo size: 4

2025-08-21T06:48:20.220Z,1755758900.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.62 m.
2025-08-21T06:48:20.222Z,1755758900.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.621693 m,
      nav range: 48.681980 m,
      bearing: 132.208838 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.016985 deg/s,
      cmd heading: 120.633763 deg,
      new cmd heading: 120.609236 deg.

2025-08-21T06:48:20.228Z,1755758900.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105028 target range: 49.621693 and range: 49.90 m.
2025-08-21T06:48:20.541Z,1755758900.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.62 m.
2025-08-21T06:48:20.544Z,1755758900.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.621693 m,
      nav range: 48.489319 m,
      bearing: 132.191666 deg,
      approach rate: -0.586949 m/s,
      LOS rate: -0.052524 deg/s,
      cmd heading: 120.609243 deg,
      new cmd heading: 120.557520 deg.

2025-08-21T06:48:20.544Z,1755758900.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104126 target range: 49.621693 and range: 49.90 m.
2025-08-21T06:48:20.950Z,1755758900.950 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:20.953Z,1755758900.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.62 m.
2025-08-21T06:48:20.956Z,1755758900.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.621693 m,
      nav range: 48.266487 m,
      bearing: 132.171472 deg,
      approach rate: -0.540851 m/s,
      LOS rate: -0.049240 deg/s,
      cmd heading: 120.557524 deg,
      new cmd heading: 120.496663 deg.

2025-08-21T06:48:20.956Z,1755758900.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103064 target range: 49.621693 and range: 49.90 m.
2025-08-21T06:48:21.009Z,1755758901.009 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:21.009Z,1755758901.009 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:21.009Z,1755758901.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:21.260Z,1755758901.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496328
2025-08-21T06:48:21.364Z,1755758901.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.62 m.
2025-08-21T06:48:21.367Z,1755758901.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.621693 m,
      nav range: 48.017162 m,
      bearing: 132.155377 deg,
      approach rate: -0.605645 m/s,
      LOS rate: -0.039300 deg/s,
      cmd heading: 120.496667 deg,
      new cmd heading: 120.448132 deg.

2025-08-21T06:48:21.368Z,1755758901.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102216 target range: 49.621693 and range: 49.90 m.
2025-08-21T06:48:21.513Z,1755758901.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749074
2025-08-21T06:48:21.746Z,1755758901.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.62 m.
2025-08-21T06:48:21.749Z,1755758901.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.621693 m,
      nav range: 47.794949 m,
      bearing: 132.140921 deg,
      approach rate: -0.582837 m/s,
      LOS rate: -0.038091 deg/s,
      cmd heading: 120.448132 deg,
      new cmd heading: 120.404564 deg.

2025-08-21T06:48:21.750Z,1755758901.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.101456 target range: 49.621693 and range: 49.90 m.
2025-08-21T06:48:21.766Z,1755758901.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001808
2025-08-21T06:48:22.016Z,1755758902.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252276
2025-08-21T06:48:22.192Z,1755758902.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.62 m.
2025-08-21T06:48:22.194Z,1755758902.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.621693 m,
      nav range: 47.536701 m,
      bearing: 132.122317 deg,
      approach rate: -0.579261 m/s,
      LOS rate: -0.041957 deg/s,
      cmd heading: 120.404569 deg,
      new cmd heading: 120.348454 deg.

2025-08-21T06:48:22.195Z,1755758902.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.100477 target range: 49.621693 and range: 49.90 m.
2025-08-21T06:48:22.270Z,1755758902.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506085
2025-08-21T06:48:22.520Z,1755758902.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756324
2025-08-21T06:48:22.566Z,1755758902.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.62 m.
2025-08-21T06:48:22.569Z,1755758902.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.621693 m,
      nav range: 47.319908 m,
      bearing: 132.106592 deg,
      approach rate: -0.579097 m/s,
      LOS rate: -0.042197 deg/s,
      cmd heading: 120.348452 deg,
      new cmd heading: 120.301062 deg.

2025-08-21T06:48:22.570Z,1755758902.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.099650 target range: 49.621693 and range: 49.90 m.
2025-08-21T06:48:22.776Z,1755758902.776 [DAT](INFO): DAT read: Rx Time:06:48:21.5925

2025-08-21T06:48:22.777Z,1755758902.777 [DAT](INFO): Rx dataTimestamp_ set to:1755758902.776658
2025-08-21T06:48:22.778Z,1755758902.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014309
2025-08-21T06:48:22.972Z,1755758902.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:22.974Z,1755758902.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.62 m.
2025-08-21T06:48:22.977Z,1755758902.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.621693 m,
      nav range: 47.089561 m,
      bearing: 132.089933 deg,
      approach rate: -0.564323 m/s,
      LOS rate: -0.041014 deg/s,
      cmd heading: 120.301064 deg,
      new cmd heading: 120.250841 deg.

2025-08-21T06:48:22.978Z,1755758902.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098773 target range: 49.621693 and range: 49.90 m.
2025-08-21T06:48:23.026Z,1755758903.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262115
2025-08-21T06:48:23.280Z,1755758903.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515585
2025-08-21T06:48:23.382Z,1755758903.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.62 m.
2025-08-21T06:48:23.385Z,1755758903.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.621693 m,
      nav range: 46.847782 m,
      bearing: 132.070663 deg,
      approach rate: -0.592652 m/s,
      LOS rate: -0.047477 deg/s,
      cmd heading: 120.250835 deg,
      new cmd heading: 120.192729 deg.

2025-08-21T06:48:23.386Z,1755758903.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.097759 target range: 49.621693 and range: 49.90 m.
2025-08-21T06:48:23.534Z,1755758903.534 [DAT](INFO): DAT read: 06:48:21.5925 LVL= 23872, 30641, 26898, 32755, AGC= 64, IDX= 412,-0.42,-1.179, 3.140,-1.398,-1.592, PHS= 0.515,-1.505, 0.150, RAW= 140.2,   9.0, CAL= 139.8,   9.9, ROT=  10.2,  -9.9

2025-08-21T06:48:23.535Z,1755758903.535 [DAT](INFO): got valid direction response:
 06:48:21.5925 LVL= 23872, 30641, 26898, 32755, AGC= 64, IDX= 412,-0.42,-1.179, 3.140,-1.398,-1.592, PHS= 0.515,-1.505, 0.150, RAW= 140.2,   9.0, CAL= 139.8,   9.9, ROT=  10.2,  -9.9

2025-08-21T06:48:23.536Z,1755758903.536 [DAT](INFO): DAT read: Bearing 291.0,   7.3 (Local)

2025-08-21T06:48:23.536Z,1755758903.536 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.0,   7.3 (Local)

2025-08-21T06:48:23.538Z,1755758903.538 [DAT](INFO): DAT read: Range 11 to 50 : 47.9 m  (Round-trip  63.9 ms) speed  0.4 m/s

2025-08-21T06:48:23.539Z,1755758903.539 [DAT](INFO): DAT read: user:1917>

2025-08-21T06:48:23.539Z,1755758903.539 [DAT](INFO): DAT read: Tx time:06:48:22.7245

2025-08-21T06:48:23.540Z,1755758903.540 [DAT](INFO): Ping request sent.
2025-08-21T06:48:23.540Z,1755758903.540 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:23.540Z,1755758903.540 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:23.541Z,1755758903.541 [DAT](INFO): direction in FSK: [0.969540,0.174448,0.171929]
2025-08-21T06:48:23.541Z,1755758903.541 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:23.542Z,1755758903.542 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:23.545Z,1755758903.545 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:23.545Z,1755758903.545 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:23.808Z,1755758903.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.900002 m,
      deltaT: 3.784007 s,
      deltaX: -2.000000 m,
      approachRate: -0.528540 m/s,
      rangeRepo size: 4

2025-08-21T06:48:23.810Z,1755758903.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.632534 m,
      bearing: 132.571790 deg,
      lat: 36.779353 deg,
      lon: -121.859466 deg,
      deltaT: 3.784007 s,
      deltaX: -1.989159 m,
      approachRate: -0.525675 m/s,
      posRepo size: 4

2025-08-21T06:48:23.812Z,1755758903.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.63 m.
2025-08-21T06:48:23.815Z,1755758903.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.632534 m,
      nav range: 46.840340 m,
      bearing: 132.348994 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047477 deg/s,
      cmd heading: 120.192724 deg,
      new cmd heading: 120.132052 deg.

2025-08-21T06:48:23.824Z,1755758903.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.096700 target range: 47.632534 and range: 47.90 m.
2025-08-21T06:48:24.239Z,1755758904.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.63 m.
2025-08-21T06:48:24.242Z,1755758904.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.632534 m,
      nav range: 46.571224 m,
      bearing: 132.328689 deg,
      approach rate: -0.624527 m/s,
      LOS rate: -0.047393 deg/s,
      cmd heading: 120.132058 deg,
      new cmd heading: 120.070792 deg.

2025-08-21T06:48:24.243Z,1755758904.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.095631 target range: 47.632534 and range: 47.90 m.
2025-08-21T06:48:24.581Z,1755758904.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.63 m.
2025-08-21T06:48:24.584Z,1755758904.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.632534 m,
      nav range: 46.373222 m,
      bearing: 132.313847 deg,
      approach rate: -0.579173 m/s,
      LOS rate: -0.043600 deg/s,
      cmd heading: 120.070791 deg,
      new cmd heading: 120.026075 deg.

2025-08-21T06:48:24.585Z,1755758904.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.094850 target range: 47.632534 and range: 47.90 m.
2025-08-21T06:48:24.994Z,1755758904.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:24.996Z,1755758904.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.63 m.
2025-08-21T06:48:24.999Z,1755758904.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.632534 m,
      nav range: 46.133106 m,
      bearing: 132.295677 deg,
      approach rate: -0.578231 m/s,
      LOS rate: -0.043985 deg/s,
      cmd heading: 120.026081 deg,
      new cmd heading: 119.971285 deg.

2025-08-21T06:48:24.000Z,1755758905.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.093894 target range: 47.632534 and range: 47.90 m.
2025-08-21T06:48:25.041Z,1755758905.041 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:25.041Z,1755758905.041 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:25.041Z,1755758905.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:25.293Z,1755758905.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752734
2025-08-21T06:48:25.401Z,1755758905.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.63 m.
2025-08-21T06:48:25.403Z,1755758905.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.632534 m,
      nav range: 45.896122 m,
      bearing: 132.278348 deg,
      approach rate: -0.585697 m/s,
      LOS rate: -0.043048 deg/s,
      cmd heading: 119.971289 deg,
      new cmd heading: 119.919035 deg.

2025-08-21T06:48:25.404Z,1755758905.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092982 target range: 47.632534 and range: 47.90 m.
2025-08-21T06:48:25.544Z,1755758905.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004369
2025-08-21T06:48:25.796Z,1755758905.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256509
2025-08-21T06:48:25.807Z,1755758905.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.63 m.
2025-08-21T06:48:25.810Z,1755758905.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.632534 m,
      nav range: 45.657238 m,
      bearing: 132.260818 deg,
      approach rate: -0.587757 m/s,
      LOS rate: -0.043356 deg/s,
      cmd heading: 119.919038 deg,
      new cmd heading: 119.866174 deg.

2025-08-21T06:48:25.811Z,1755758905.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092059 target range: 47.632534 and range: 47.90 m.
2025-08-21T06:48:26.052Z,1755758906.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511144
2025-08-21T06:48:26.237Z,1755758906.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.63 m.
2025-08-21T06:48:26.240Z,1755758906.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.632534 m,
      nav range: 45.412197 m,
      bearing: 132.247876 deg,
      approach rate: -0.570199 m/s,
      LOS rate: -0.030278 deg/s,
      cmd heading: 119.866173 deg,
      new cmd heading: 119.827137 deg.

2025-08-21T06:48:26.241Z,1755758906.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.091378 target range: 47.632534 and range: 47.90 m.
2025-08-21T06:48:26.301Z,1755758906.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761204
2025-08-21T06:48:26.552Z,1755758906.552 [DAT](INFO): DAT read: Rx Time:06:48:25.1896

2025-08-21T06:48:26.553Z,1755758906.553 [DAT](INFO): Rx dataTimestamp_ set to:1755758906.552404
2025-08-21T06:48:26.553Z,1755758906.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013426
2025-08-21T06:48:26.622Z,1755758906.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.63 m.
2025-08-21T06:48:26.629Z,1755758906.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.632534 m,
      nav range: 45.198978 m,
      bearing: 132.236668 deg,
      approach rate: -0.552718 m/s,
      LOS rate: -0.029190 deg/s,
      cmd heading: 119.827131 deg,
      new cmd heading: 119.793349 deg.

2025-08-21T06:48:26.630Z,1755758906.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.090788 target range: 47.632534 and range: 47.90 m.
2025-08-21T06:48:26.804Z,1755758906.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264387
2025-08-21T06:48:27.063Z,1755758907.063 [DAT](INFO): DAT read: 06:48:25.1896 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415,-0.29, 1.709,-0.408, 1.468, 1.319, PHS= 0.493,-1.682, 0.105, RAW= 140.4,  10.8, CAL= 139.8,  11.7, ROT=  10.2, -11.7

2025-08-21T06:48:27.064Z,1755758907.064 [DAT](INFO): got valid direction response:
 06:48:25.1896 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415,-0.29, 1.709,-0.408, 1.468, 1.319, PHS= 0.493,-1.682, 0.105, RAW= 140.4,  10.8, CAL= 139.8,  11.7, ROT=  10.2, -11.7

2025-08-21T06:48:27.065Z,1755758907.065 [DAT](INFO): DAT read: Bearing 293.6,   7.3 (Local)

2025-08-21T06:48:27.065Z,1755758907.065 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.6,   7.3 (Local)

2025-08-21T06:48:27.067Z,1755758907.067 [DAT](INFO): DAT read: Range 11 to 50 : 45.8 m  (Round-trip  61.1 ms) speed  0.8 m/s

2025-08-21T06:48:27.067Z,1755758907.067 [DAT](INFO): DAT read: user:1918>

2025-08-21T06:48:27.068Z,1755758907.068 [DAT](INFO): DAT read: Tx time:06:48:26.3244

2025-08-21T06:48:27.068Z,1755758907.068 [DAT](INFO): Ping request sent.
2025-08-21T06:48:27.069Z,1755758907.069 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:27.069Z,1755758907.069 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:27.070Z,1755758907.070 [DAT](INFO): direction in FSK: [0.963747,0.173405,0.202787]
2025-08-21T06:48:27.070Z,1755758907.070 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:27.070Z,1755758907.070 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:27.074Z,1755758907.074 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:27.074Z,1755758907.074 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:27.202Z,1755758907.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.799999 m,
      deltaT: 3.528058 s,
      deltaX: -2.100002 m,
      approachRate: -0.595229 m/s,
      rangeRepo size: 4

2025-08-21T06:48:27.213Z,1755758907.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.544270 m,
      bearing: 132.309880 deg,
      lat: 36.779352 deg,
      lon: -121.859466 deg,
      deltaT: 3.528058 s,
      deltaX: -2.088264 m,
      approachRate: -0.591902 m/s,
      posRepo size: 4

2025-08-21T06:48:27.213Z,1755758907.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.54 m.
2025-08-21T06:48:27.216Z,1755758907.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.544270 m,
      nav range: 45.030281 m,
      bearing: 132.309718 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029190 deg/s,
      cmd heading: 119.793349 deg,
      new cmd heading: 119.742666 deg.

2025-08-21T06:48:27.217Z,1755758907.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089904 target range: 45.544270 and range: 45.80 m.
2025-08-21T06:48:27.543Z,1755758907.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:27.557Z,1755758907.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.54 m.
2025-08-21T06:48:27.560Z,1755758907.560 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:27.560Z,1755758907.560 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:27.561Z,1755758907.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:27.572Z,1755758907.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.544270 m,
      nav range: 44.757217 m,
      bearing: 132.307162 deg,
      approach rate: -0.767932 m/s,
      LOS rate: -0.007233 deg/s,
      cmd heading: 119.742669 deg,
      new cmd heading: 119.734953 deg.

2025-08-21T06:48:27.573Z,1755758907.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089769 target range: 45.544270 and range: 45.80 m.
2025-08-21T06:48:27.814Z,1755758907.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744762
2025-08-21T06:48:27.949Z,1755758907.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.54 m.
2025-08-21T06:48:27.951Z,1755758907.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.544270 m,
      nav range: 44.535458 m,
      bearing: 132.305356 deg,
      approach rate: -0.566095 m/s,
      LOS rate: -0.004633 deg/s,
      cmd heading: 119.734951 deg,
      new cmd heading: 119.729506 deg.

2025-08-21T06:48:27.952Z,1755758907.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089674 target range: 45.544270 and range: 45.80 m.
2025-08-21T06:48:28.064Z,1755758908.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995616
2025-08-21T06:48:28.316Z,1755758908.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247513
2025-08-21T06:48:28.366Z,1755758908.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.54 m.
2025-08-21T06:48:28.385Z,1755758908.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.544270 m,
      nav range: 44.294579 m,
      bearing: 132.301030 deg,
      approach rate: -0.577439 m/s,
      LOS rate: -0.010427 deg/s,
      cmd heading: 119.729501 deg,
      new cmd heading: 119.716451 deg.

2025-08-21T06:48:28.386Z,1755758908.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089446 target range: 45.544270 and range: 45.80 m.
2025-08-21T06:48:28.568Z,1755758908.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499575
2025-08-21T06:48:28.730Z,1755758908.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.54 m.
2025-08-21T06:48:28.732Z,1755758908.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.544270 m,
      nav range: 44.091167 m,
      bearing: 132.297455 deg,
      approach rate: -0.559001 m/s,
      LOS rate: -0.009869 deg/s,
      cmd heading: 119.716455 deg,
      new cmd heading: 119.705681 deg.

2025-08-21T06:48:28.733Z,1755758908.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089258 target range: 45.544270 and range: 45.80 m.
2025-08-21T06:48:28.821Z,1755758908.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752600
2025-08-21T06:48:29.073Z,1755758909.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003985
2025-08-21T06:48:29.134Z,1755758909.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.54 m.
2025-08-21T06:48:29.145Z,1755758909.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.544270 m,
      nav range: 43.864300 m,
      bearing: 132.293514 deg,
      approach rate: -0.560725 m/s,
      LOS rate: -0.009793 deg/s,
      cmd heading: 119.705677 deg,
      new cmd heading: 119.693791 deg.

2025-08-21T06:48:29.163Z,1755758909.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.089051 target range: 45.544270 and range: 45.80 m.
2025-08-21T06:48:29.324Z,1755758909.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255618
2025-08-21T06:48:29.577Z,1755758909.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508199
2025-08-21T06:48:29.596Z,1755758909.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:29.598Z,1755758909.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.54 m.
2025-08-21T06:48:29.605Z,1755758909.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.544270 m,
      nav range: 43.608303 m,
      bearing: 132.286749 deg,
      approach rate: -0.551578 m/s,
      LOS rate: -0.014661 deg/s,
      cmd heading: 119.693792 deg,
      new cmd heading: 119.673378 deg.

2025-08-21T06:48:29.606Z,1755758909.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.088695 target range: 45.544270 and range: 45.80 m.
2025-08-21T06:48:29.828Z,1755758909.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759548
2025-08-21T06:48:29.949Z,1755758909.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.54 m.
2025-08-21T06:48:29.952Z,1755758909.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.544270 m,
      nav range: 43.392826 m,
      bearing: 132.281312 deg,
      approach rate: -0.613993 m/s,
      LOS rate: -0.015569 deg/s,
      cmd heading: 119.673384 deg,
      new cmd heading: 119.656993 deg.

2025-08-21T06:48:29.953Z,1755758909.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.088408 target range: 45.544270 and range: 45.80 m.
2025-08-21T06:48:30.080Z,1755758910.080 [DAT](INFO): DAT read: Rx Time:06:48:28.7869

2025-08-21T06:48:30.081Z,1755758910.081 [DAT](INFO): Rx dataTimestamp_ set to:1755758910.080511
2025-08-21T06:48:30.081Z,1755758910.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012715
2025-08-21T06:48:30.332Z,1755758910.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263477
2025-08-21T06:48:30.392Z,1755758910.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.54 m.
2025-08-21T06:48:30.395Z,1755758910.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.544270 m,
      nav range: 43.144646 m,
      bearing: 132.270836 deg,
      approach rate: -0.560599 m/s,
      LOS rate: -0.023800 deg/s,
      cmd heading: 119.656991 deg,
      new cmd heading: 119.625383 deg.

2025-08-21T06:48:30.400Z,1755758910.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.087857 target range: 45.544270 and range: 45.80 m.
2025-08-21T06:48:30.524Z,1755758910.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:48:30.590Z,1755758910.590 [DAT](INFO): DAT read: 06:48:28.7869 LVL= 28112, 32753, 32754, 32755, AGC= 67, IDX= 418,-0.05,-1.129,-3.065,-1.351,-1.524, PHS= 0.497,-1.496, 0.129, RAW= 140.0,   9.5, CAL= 139.5,  10.4, ROT=  10.5, -10.4

2025-08-21T06:48:30.591Z,1755758910.591 [DAT](INFO): got valid direction response:
 06:48:28.7869 LVL= 28112, 32753, 32754, 32755, AGC= 67, IDX= 418,-0.05,-1.129,-3.065,-1.351,-1.524, PHS= 0.497,-1.496, 0.129, RAW= 140.0,   9.5, CAL= 139.5,  10.4, ROT=  10.5, -10.4

2025-08-21T06:48:30.592Z,1755758910.592 [DAT](INFO): DAT read: Bearing 292.6,   7.5 (Local)

2025-08-21T06:48:30.592Z,1755758910.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.6,   7.5 (Local)

2025-08-21T06:48:30.594Z,1755758910.594 [DAT](INFO): DAT read: Range 11 to 50 : 43.7 m  (Round-trip  58.3 ms) speed  0.0 m/s

2025-08-21T06:48:30.595Z,1755758910.595 [DAT](INFO): DAT read: user:1919>

2025-08-21T06:48:30.596Z,1755758910.596 [DAT](INFO): DAT read: Tx time:06:48:29.8744

2025-08-21T06:48:30.596Z,1755758910.596 [DAT](INFO): Ping request sent.
2025-08-21T06:48:30.596Z,1755758910.596 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:30.597Z,1755758910.597 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:30.598Z,1755758910.598 [DAT](INFO): direction in FSK: [0.967101,0.179242,0.180519]
2025-08-21T06:48:30.598Z,1755758910.598 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:30.598Z,1755758910.598 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:30.617Z,1755758910.617 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:30.618Z,1755758910.618 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:30.790Z,1755758910.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.700001 m,
      deltaT: 3.527937 s,
      deltaX: -2.099998 m,
      approachRate: -0.595248 m/s,
      rangeRepo size: 4

2025-08-21T06:48:30.801Z,1755758910.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.455841 m,
      bearing: 132.388516 deg,
      lat: 36.779350 deg,
      lon: -121.859465 deg,
      deltaT: 3.527937 s,
      deltaX: -2.088428 m,
      approachRate: -0.591969 m/s,
      posRepo size: 4

2025-08-21T06:48:30.801Z,1755758910.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-08-21T06:48:30.812Z,1755758910.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.455841 m,
      nav range: 43.096657 m,
      bearing: 132.388361 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023800 deg/s,
      cmd heading: 119.625381 deg,
      new cmd heading: 119.596986 deg.

2025-08-21T06:48:30.813Z,1755758910.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.087361 target range: 43.455841 and range: 43.70 m.
2025-08-21T06:48:31.162Z,1755758911.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-08-21T06:48:31.166Z,1755758911.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.455841 m,
      nav range: 42.863235 m,
      bearing: 132.379416 deg,
      approach rate: -0.627148 m/s,
      LOS rate: -0.024164 deg/s,
      cmd heading: 119.596981 deg,
      new cmd heading: 119.570000 deg.

2025-08-21T06:48:31.170Z,1755758911.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.086890 target range: 43.455841 and range: 43.70 m.
2025-08-21T06:48:31.528Z,1755758911.528 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:48:31.617Z,1755758911.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:31.623Z,1755758911.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-08-21T06:48:31.626Z,1755758911.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.455841 m,
      nav range: 42.609947 m,
      bearing: 132.369347 deg,
      approach rate: -0.553976 m/s,
      LOS rate: -0.022153 deg/s,
      cmd heading: 119.570002 deg,
      new cmd heading: 119.539615 deg.

2025-08-21T06:48:31.627Z,1755758911.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.086360 target range: 43.455841 and range: 43.70 m.
2025-08-21T06:48:31.845Z,1755758911.845 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:31.845Z,1755758911.845 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:31.845Z,1755758911.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:31.991Z,1755758911.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-08-21T06:48:31.994Z,1755758911.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.455841 m,
      nav range: 42.399597 m,
      bearing: 132.361026 deg,
      approach rate: -0.565427 m/s,
      LOS rate: -0.022478 deg/s,
      cmd heading: 119.539621 deg,
      new cmd heading: 119.514535 deg.

2025-08-21T06:48:31.995Z,1755758911.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.085922 target range: 43.455841 and range: 43.70 m.
2025-08-21T06:48:32.096Z,1755758912.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499839
2025-08-21T06:48:32.348Z,1755758912.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751804
2025-08-21T06:48:32.422Z,1755758912.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-08-21T06:48:32.425Z,1755758912.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.455841 m,
      nav range: 42.145363 m,
      bearing: 132.342881 deg,
      approach rate: -0.589456 m/s,
      LOS rate: -0.042324 deg/s,
      cmd heading: 119.514541 deg,
      new cmd heading: 119.459778 deg.

2025-08-21T06:48:32.426Z,1755758912.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.084966 target range: 43.455841 and range: 43.70 m.
2025-08-21T06:48:32.600Z,1755758912.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003728
2025-08-21T06:48:32.795Z,1755758912.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-08-21T06:48:32.798Z,1755758912.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.455841 m,
      nav range: 41.938648 m,
      bearing: 132.328410 deg,
      approach rate: -0.555237 m/s,
      LOS rate: -0.039063 deg/s,
      cmd heading: 119.459776 deg,
      new cmd heading: 119.416147 deg.

2025-08-21T06:48:32.798Z,1755758912.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.084205 target range: 43.455841 and range: 43.70 m.
2025-08-21T06:48:32.853Z,1755758912.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256885
2025-08-21T06:48:33.104Z,1755758913.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507785
2025-08-21T06:48:33.290Z,1755758913.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-08-21T06:48:33.297Z,1755758913.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.455841 m,
      nav range: 41.677330 m,
      bearing: 132.310196 deg,
      approach rate: -0.527489 m/s,
      LOS rate: -0.036996 deg/s,
      cmd heading: 119.416145 deg,
      new cmd heading: 119.361162 deg.

2025-08-21T06:48:33.298Z,1755758913.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.083245 target range: 43.455841 and range: 43.70 m.
2025-08-21T06:48:33.357Z,1755758913.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760633
2025-08-21T06:48:33.608Z,1755758913.608 [DAT](INFO): DAT read: Rx Time:06:48:32.3341

2025-08-21T06:48:33.609Z,1755758913.609 [DAT](INFO): Rx dataTimestamp_ set to:1755758913.608605
2025-08-21T06:48:33.609Z,1755758913.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012985
2025-08-21T06:48:33.693Z,1755758913.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:33.699Z,1755758913.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-08-21T06:48:33.702Z,1755758913.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.455841 m,
      nav range: 41.438980 m,
      bearing: 132.293548 deg,
      approach rate: -0.588546 m/s,
      LOS rate: -0.041344 deg/s,
      cmd heading: 119.361162 deg,
      new cmd heading: 119.310931 deg.

2025-08-21T06:48:33.703Z,1755758913.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.082369 target range: 43.455841 and range: 43.70 m.
2025-08-21T06:48:33.860Z,1755758913.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263778
2025-08-21T06:48:34.082Z,1755758914.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.46 m.
2025-08-21T06:48:34.085Z,1755758914.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.455841 m,
      nav range: 41.210678 m,
      bearing: 132.277574 deg,
      approach rate: -0.590156 m/s,
      LOS rate: -0.041522 deg/s,
      cmd heading: 119.310933 deg,
      new cmd heading: 119.262744 deg.

2025-08-21T06:48:34.086Z,1755758914.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.081527 target range: 43.455841 and range: 43.70 m.
2025-08-21T06:48:34.139Z,1755758914.139 [DAT](INFO): DAT read: 06:48:32.3341 LVL= 27056, 32753, 32754, 32755, AGC= 65, IDX= 406, 0.24,-2.101, 2.183,-2.323,-2.512, PHS= 0.513,-1.543, 0.146, RAW= 140.4,   9.4, CAL= 139.9,  10.2, ROT=  10.1, -10.2

2025-08-21T06:48:34.141Z,1755758914.141 [DAT](INFO): got valid direction response:
 06:48:32.3341 LVL= 27056, 32753, 32754, 32755, AGC= 65, IDX= 406, 0.24,-2.101, 2.183,-2.323,-2.512, PHS= 0.513,-1.543, 0.146, RAW= 140.4,   9.4, CAL= 139.9,  10.2, ROT=  10.1, -10.2

2025-08-21T06:48:34.142Z,1755758914.142 [DAT](INFO): DAT read: Bearing 292.5,   7.2 (Local)

2025-08-21T06:48:34.142Z,1755758914.142 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.5,   7.2 (Local)

2025-08-21T06:48:34.157Z,1755758914.157 [DAT](INFO): DAT read: Range 11 to 50 : 41.7 m  (Round-trip  55.6 ms) speed  0.6 m/s

2025-08-21T06:48:34.158Z,1755758914.158 [DAT](INFO): DAT read: user:1920>

2025-08-21T06:48:34.160Z,1755758914.160 [DAT](INFO): DAT read: Tx time:06:48:33.4244

2025-08-21T06:48:34.160Z,1755758914.160 [DAT](INFO): Ping request sent.
2025-08-21T06:48:34.161Z,1755758914.161 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:34.161Z,1755758914.161 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:34.163Z,1755758914.163 [DAT](INFO): direction in FSK: [0.968944,0.172595,0.177085]
2025-08-21T06:48:34.163Z,1755758914.163 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:34.169Z,1755758914.169 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:34.217Z,1755758914.217 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:34.218Z,1755758914.218 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:34.494Z,1755758914.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 41.700001 m,
      deltaT: 3.544937 s,
      deltaX: -2.000000 m,
      approachRate: -0.564185 m/s,
      rangeRepo size: 4

2025-08-21T06:48:34.496Z,1755758914.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 41.467171 m,
      bearing: 131.640136 deg,
      lat: 36.779350 deg,
      lon: -121.859465 deg,
      deltaT: 3.544937 s,
      deltaX: -1.988670 m,
      approachRate: -0.560989 m/s,
      posRepo size: 4

2025-08-21T06:48:34.497Z,1755758914.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.47 m.
2025-08-21T06:48:34.500Z,1755758914.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.467171 m,
      nav range: 40.989670 m,
      bearing: 132.258568 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041522 deg/s,
      cmd heading: 119.262739 deg,
      new cmd heading: 119.211457 deg.

2025-08-21T06:48:34.501Z,1755758914.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.080632 target range: 41.467171 and range: 41.70 m.
2025-08-21T06:48:34.876Z,1755758914.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.47 m.
2025-08-21T06:48:34.878Z,1755758914.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.467171 m,
      nav range: 40.780445 m,
      bearing: 132.240386 deg,
      approach rate: -0.548077 m/s,
      LOS rate: -0.047875 deg/s,
      cmd heading: 119.211458 deg,
      new cmd heading: 119.156630 deg.

2025-08-21T06:48:34.879Z,1755758914.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.079675 target range: 41.467171 and range: 41.70 m.
2025-08-21T06:48:35.337Z,1755758915.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.47 m.
2025-08-21T06:48:35.340Z,1755758915.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.467171 m,
      nav range: 40.538944 m,
      bearing: 132.219770 deg,
      approach rate: -0.523185 m/s,
      LOS rate: -0.044928 deg/s,
      cmd heading: 119.156625 deg,
      new cmd heading: 119.094410 deg.

2025-08-21T06:48:35.341Z,1755758915.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.078590 target range: 41.467171 and range: 41.70 m.
2025-08-21T06:48:35.715Z,1755758915.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:35.717Z,1755758915.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.47 m.
2025-08-21T06:48:35.724Z,1755758915.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.467171 m,
      nav range: 40.338558 m,
      bearing: 132.204052 deg,
      approach rate: -0.526779 m/s,
      LOS rate: -0.041526 deg/s,
      cmd heading: 119.094416 deg,
      new cmd heading: 119.047026 deg.

2025-08-21T06:48:35.725Z,1755758915.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077763 target range: 41.467171 and range: 41.70 m.
2025-08-21T06:48:35.892Z,1755758915.892 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:35.892Z,1755758915.892 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:35.892Z,1755758915.892 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:36.088Z,1755758916.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.47 m.
2025-08-21T06:48:36.090Z,1755758916.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.467171 m,
      nav range: 40.125732 m,
      bearing: 132.187553 deg,
      approach rate: -0.574427 m/s,
      LOS rate: -0.044766 deg/s,
      cmd heading: 119.047028 deg,
      new cmd heading: 118.997270 deg.

2025-08-21T06:48:36.092Z,1755758916.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.076894 target range: 41.467171 and range: 41.70 m.
2025-08-21T06:48:36.146Z,1755758916.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985548
2025-08-21T06:48:36.396Z,1755758916.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235839
2025-08-21T06:48:36.499Z,1755758916.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.47 m.
2025-08-21T06:48:36.518Z,1755758916.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.467171 m,
      nav range: 39.894005 m,
      bearing: 132.172854 deg,
      approach rate: -0.564218 m/s,
      LOS rate: -0.035998 deg/s,
      cmd heading: 118.997277 deg,
      new cmd heading: 118.952923 deg.

2025-08-21T06:48:36.519Z,1755758916.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.076120 target range: 41.467171 and range: 41.70 m.
2025-08-21T06:48:36.648Z,1755758916.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487917
2025-08-21T06:48:36.900Z,1755758916.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740009
2025-08-21T06:48:36.901Z,1755758916.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.47 m.
2025-08-21T06:48:36.914Z,1755758916.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.467171 m,
      nav range: 39.676762 m,
      bearing: 132.159309 deg,
      approach rate: -0.564611 m/s,
      LOS rate: -0.035395 deg/s,
      cmd heading: 118.952922 deg,
      new cmd heading: 118.912065 deg.

2025-08-21T06:48:36.915Z,1755758916.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075407 target range: 41.467171 and range: 41.70 m.
2025-08-21T06:48:37.153Z,1755758917.153 [DAT](INFO): DAT read: Rx Time:06:48:35.8815

2025-08-21T06:48:37.154Z,1755758917.154 [DAT](INFO): Rx dataTimestamp_ set to:1755758917.152947
2025-08-21T06:48:37.154Z,1755758917.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993801
2025-08-21T06:48:37.357Z,1755758917.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.47 m.
2025-08-21T06:48:37.364Z,1755758917.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 41.467171 m,
      nav range: 39.422333 m,
      bearing: 132.143724 deg,
      approach rate: -0.536756 m/s,
      LOS rate: -0.033092 deg/s,
      cmd heading: 118.912063 deg,
      new cmd heading: 118.865006 deg.

2025-08-21T06:48:37.365Z,1755758917.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.074586 target range: 41.467171 and range: 41.70 m.
2025-08-21T06:48:37.404Z,1755758917.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244045
2025-08-21T06:48:37.662Z,1755758917.662 [DAT](INFO): DAT read: 06:48:35.8815 LVL= 31152, 32753, 32754, 32755, AGC= 66, IDX= 411, 0.41, 0.068,-2.024,-0.160,-0.344, PHS= 0.513,-1.635, 0.140, RAW= 140.6,   9.9, CAL= 140.1,  10.8, ROT=   9.9, -10.8

2025-08-21T06:48:37.663Z,1755758917.663 [DAT](INFO): got valid direction response:
 06:48:35.8815 LVL= 31152, 32753, 32754, 32755, AGC= 66, IDX= 411, 0.41, 0.068,-2.024,-0.160,-0.344, PHS= 0.513,-1.635, 0.140, RAW= 140.6,   9.9, CAL= 140.1,  10.8, ROT=   9.9, -10.8

2025-08-21T06:48:37.664Z,1755758917.664 [DAT](INFO): DAT read: Bearing 293.0,   6.9 (Local)

2025-08-21T06:48:37.664Z,1755758917.664 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.0,   6.9 (Local)

2025-08-21T06:48:37.666Z,1755758917.666 [DAT](INFO): DAT read: Range 11 to 50 : 39.7 m  (Round-trip  53.0 ms) speed  0.4 m/s

2025-08-21T06:48:37.667Z,1755758917.667 [DAT](INFO): DAT read: user:1921>

2025-08-21T06:48:37.678Z,1755758917.678 [DAT](INFO): DAT read: Tx time:06:48:36.9744

2025-08-21T06:48:37.679Z,1755758917.679 [DAT](INFO): Ping request sent.
2025-08-21T06:48:37.679Z,1755758917.679 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:37.695Z,1755758917.695 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:37.696Z,1755758917.696 [DAT](INFO): direction in FSK: [0.967660,0.168884,0.187381]
2025-08-21T06:48:37.696Z,1755758917.696 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:37.697Z,1755758917.697 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:37.704Z,1755758917.704 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:37.704Z,1755758917.704 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:37.856Z,1755758917.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.700001 m,
      deltaT: 3.527083 s,
      deltaX: -2.000000 m,
      approachRate: -0.567041 m/s,
      rangeRepo size: 4

2025-08-21T06:48:37.858Z,1755758917.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 39.478535 m,
      bearing: 130.875467 deg,
      lat: 36.779352 deg,
      lon: -121.859464 deg,
      deltaT: 3.527083 s,
      deltaX: -1.988636 m,
      approachRate: -0.563819 m/s,
      posRepo size: 4

2025-08-21T06:48:37.859Z,1755758917.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.48 m.
2025-08-21T06:48:37.866Z,1755758917.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.478535 m,
      nav range: 39.124451 m,
      bearing: 131.802854 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.033092 deg/s,
      cmd heading: 118.865003 deg,
      new cmd heading: 118.815559 deg.

2025-08-21T06:48:37.867Z,1755758917.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073723 target range: 39.478535 and range: 39.70 m.
2025-08-21T06:48:38.344Z,1755758918.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:38.347Z,1755758918.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.48 m.
2025-08-21T06:48:38.354Z,1755758918.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.478535 m,
      nav range: 38.856453 m,
      bearing: 131.789926 deg,
      approach rate: -0.545601 m/s,
      LOS rate: -0.026501 deg/s,
      cmd heading: 118.815553 deg,
      new cmd heading: 118.776502 deg.

2025-08-21T06:48:38.359Z,1755758918.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.073041 target range: 39.478535 and range: 39.70 m.
2025-08-21T06:48:38.413Z,1755758918.413 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:38.413Z,1755758918.413 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:38.413Z,1755758918.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:38.664Z,1755758918.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985539
2025-08-21T06:48:38.718Z,1755758918.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.48 m.
2025-08-21T06:48:38.723Z,1755758918.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.478535 m,
      nav range: 38.623211 m,
      bearing: 131.778529 deg,
      approach rate: -0.628724 m/s,
      LOS rate: -0.030908 deg/s,
      cmd heading: 118.776498 deg,
      new cmd heading: 118.742099 deg.

2025-08-21T06:48:38.725Z,1755758918.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072441 target range: 39.478535 and range: 39.70 m.
2025-08-21T06:48:38.916Z,1755758918.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237758
2025-08-21T06:48:39.103Z,1755758919.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.48 m.
2025-08-21T06:48:39.106Z,1755758919.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.478535 m,
      nav range: 38.407726 m,
      bearing: 131.767876 deg,
      approach rate: -0.558713 m/s,
      LOS rate: -0.027776 deg/s,
      cmd heading: 118.742101 deg,
      new cmd heading: 118.709963 deg.

2025-08-21T06:48:39.107Z,1755758919.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071880 target range: 39.478535 and range: 39.70 m.
2025-08-21T06:48:39.171Z,1755758919.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491864
2025-08-21T06:48:39.420Z,1755758919.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741405
2025-08-21T06:48:39.518Z,1755758919.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.48 m.
2025-08-21T06:48:39.521Z,1755758919.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.478535 m,
      nav range: 38.170498 m,
      bearing: 131.767769 deg,
      approach rate: -0.572413 m/s,
      LOS rate: -0.000260 deg/s,
      cmd heading: 118.709958 deg,
      new cmd heading: 118.709635 deg.

2025-08-21T06:48:39.522Z,1755758919.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071874 target range: 39.478535 and range: 39.70 m.
2025-08-21T06:48:39.673Z,1755758919.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994446
2025-08-21T06:48:39.899Z,1755758919.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.48 m.
2025-08-21T06:48:39.902Z,1755758919.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.478535 m,
      nav range: 37.952110 m,
      bearing: 131.768165 deg,
      approach rate: -0.572868 m/s,
      LOS rate: 0.001046 deg/s,
      cmd heading: 118.709630 deg,
      new cmd heading: 118.710826 deg.

2025-08-21T06:48:39.903Z,1755758919.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071895 target range: 39.478535 and range: 39.70 m.
2025-08-21T06:48:39.924Z,1755758919.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245592
2025-08-21T06:48:40.177Z,1755758920.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498112
2025-08-21T06:48:40.419Z,1755758920.419 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:40.422Z,1755758920.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.48 m.
2025-08-21T06:48:40.424Z,1755758920.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.478535 m,
      nav range: 37.656361 m,
      bearing: 131.765626 deg,
      approach rate: -0.565841 m/s,
      LOS rate: -0.004897 deg/s,
      cmd heading: 118.710832 deg,
      new cmd heading: 118.703154 deg.

2025-08-21T06:48:40.425Z,1755758920.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071761 target range: 39.478535 and range: 39.70 m.
2025-08-21T06:48:40.428Z,1755758920.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749622
2025-08-21T06:48:40.680Z,1755758920.680 [DAT](INFO): DAT read: Rx Time:06:48:39.4289

2025-08-21T06:48:40.681Z,1755758920.681 [DAT](INFO): Rx dataTimestamp_ set to:1755758920.680434
2025-08-21T06:48:40.681Z,1755758920.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002570
2025-08-21T06:48:40.855Z,1755758920.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.48 m.
2025-08-21T06:48:40.858Z,1755758920.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 39.478535 m,
      nav range: 37.410683 m,
      bearing: 131.764072 deg,
      approach rate: -0.567122 m/s,
      LOS rate: -0.003610 deg/s,
      cmd heading: 118.703155 deg,
      new cmd heading: 118.698464 deg.

2025-08-21T06:48:40.859Z,1755758920.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071679 target range: 39.478535 and range: 39.70 m.
2025-08-21T06:48:40.932Z,1755758920.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253529
2025-08-21T06:48:41.197Z,1755758921.197 [DAT](INFO): DAT read: 06:48:39.4289 LVL= 30240, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.11,-0.228,-2.186,-0.452,-0.584, PHS= 0.457,-1.558, 0.087, RAW= 140.1,  10.9, CAL= 139.5,  11.9, ROT=  10.5, -11.9

2025-08-21T06:48:41.199Z,1755758921.199 [DAT](INFO): got valid direction response:
 06:48:39.4289 LVL= 30240, 32753, 32754, 32755, AGC= 68, IDX= 416,-0.11,-0.228,-2.186,-0.452,-0.584, PHS= 0.457,-1.558, 0.087, RAW= 140.1,  10.9, CAL= 139.5,  11.9, ROT=  10.5, -11.9

2025-08-21T06:48:41.200Z,1755758921.200 [DAT](INFO): DAT read: Bearing 293.9,   7.3 (Local)

2025-08-21T06:48:41.200Z,1755758921.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.9,   7.3 (Local)

2025-08-21T06:48:41.201Z,1755758921.201 [DAT](INFO): DAT read: Range 11 to 50 : 37.7 m  (Round-trip  50.3 ms) speed  0.4 m/s

2025-08-21T06:48:41.202Z,1755758921.202 [DAT](INFO): DAT read: user:1922>

2025-08-21T06:48:41.203Z,1755758921.203 [DAT](INFO): DAT read: Tx time:06:48:40.5244

2025-08-21T06:48:41.203Z,1755758921.203 [DAT](INFO): Ping request sent.
2025-08-21T06:48:41.203Z,1755758921.203 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:41.204Z,1755758921.204 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:41.205Z,1755758921.205 [DAT](INFO): direction in FSK: [0.962124,0.178319,0.206204]
2025-08-21T06:48:41.205Z,1755758921.205 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:41.205Z,1755758921.205 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:41.209Z,1755758921.209 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:41.209Z,1755758921.209 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:41.336Z,1755758921.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.700001 m,
      deltaT: 3.527947 s,
      deltaX: -2.000000 m,
      approachRate: -0.566902 m/s,
      rangeRepo size: 4

2025-08-21T06:48:41.352Z,1755758921.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.489620 m,
      bearing: 130.972840 deg,
      lat: 36.779352 deg,
      lon: -121.859461 deg,
      deltaT: 3.527947 s,
      deltaX: -1.988914 m,
      approachRate: -0.563760 m/s,
      posRepo size: 4

2025-08-21T06:48:41.354Z,1755758921.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.49 m.
2025-08-21T06:48:41.382Z,1755758921.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.489620 m,
      nav range: 37.322601 m,
      bearing: 131.452002 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003610 deg/s,
      cmd heading: 118.698470 deg,
      new cmd heading: 118.693319 deg.

2025-08-21T06:48:41.394Z,1755758921.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071589 target range: 37.489620 and range: 37.70 m.
2025-08-21T06:48:41.778Z,1755758921.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.49 m.
2025-08-21T06:48:41.780Z,1755758921.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.489620 m,
      nav range: 37.062672 m,
      bearing: 131.457813 deg,
      approach rate: -0.581268 m/s,
      LOS rate: 0.013086 deg/s,
      cmd heading: 118.693320 deg,
      new cmd heading: 118.710875 deg.

2025-08-21T06:48:41.781Z,1755758921.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071896 target range: 37.489620 and range: 37.70 m.
2025-08-21T06:48:42.109Z,1755758922.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.49 m.
2025-08-21T06:48:42.116Z,1755758922.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.489620 m,
      nav range: 36.878304 m,
      bearing: 131.462299 deg,
      approach rate: -0.556341 m/s,
      LOS rate: 0.013606 deg/s,
      cmd heading: 118.710873 deg,
      new cmd heading: 118.724400 deg.

2025-08-21T06:48:42.117Z,1755758922.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072132 target range: 37.489620 and range: 37.70 m.
2025-08-21T06:48:42.533Z,1755758922.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:42.536Z,1755758922.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.49 m.
2025-08-21T06:48:42.538Z,1755758922.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.489620 m,
      nav range: 36.644291 m,
      bearing: 131.458179 deg,
      approach rate: -0.548618 m/s,
      LOS rate: -0.009722 deg/s,
      cmd heading: 118.724397 deg,
      new cmd heading: 118.711956 deg.

2025-08-21T06:48:42.539Z,1755758922.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071914 target range: 37.489620 and range: 37.70 m.
2025-08-21T06:48:42.696Z,1755758922.696 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:42.696Z,1755758922.696 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:42.697Z,1755758922.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:42.913Z,1755758922.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.49 m.
2025-08-21T06:48:42.916Z,1755758922.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.489620 m,
      nav range: 36.438793 m,
      bearing: 131.454931 deg,
      approach rate: -0.544756 m/s,
      LOS rate: -0.008659 deg/s,
      cmd heading: 118.711953 deg,
      new cmd heading: 118.702154 deg.

2025-08-21T06:48:42.917Z,1755758922.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071743 target range: 37.489620 and range: 37.70 m.
2025-08-21T06:48:42.949Z,1755758922.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745534
2025-08-21T06:48:43.201Z,1755758923.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997619
2025-08-21T06:48:43.305Z,1755758923.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.49 m.
2025-08-21T06:48:43.308Z,1755758923.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.489620 m,
      nav range: 36.225220 m,
      bearing: 131.451516 deg,
      approach rate: -0.544196 m/s,
      LOS rate: -0.008752 deg/s,
      cmd heading: 118.702158 deg,
      new cmd heading: 118.691853 deg.

2025-08-21T06:48:43.309Z,1755758923.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071564 target range: 37.489620 and range: 37.70 m.
2025-08-21T06:48:43.453Z,1755758923.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249159
2025-08-21T06:48:43.704Z,1755758923.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500966
2025-08-21T06:48:43.741Z,1755758923.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.49 m.
2025-08-21T06:48:43.764Z,1755758923.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.489620 m,
      nav range: 35.985733 m,
      bearing: 131.448291 deg,
      approach rate: -0.549840 m/s,
      LOS rate: -0.007453 deg/s,
      cmd heading: 118.691858 deg,
      new cmd heading: 118.682119 deg.

2025-08-21T06:48:43.765Z,1755758923.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071394 target range: 37.489620 and range: 37.70 m.
2025-08-21T06:48:43.956Z,1755758923.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752752
2025-08-21T06:48:44.102Z,1755758924.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.49 m.
2025-08-21T06:48:44.105Z,1755758924.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.489620 m,
      nav range: 35.779819 m,
      bearing: 131.445781 deg,
      approach rate: -0.569916 m/s,
      LOS rate: -0.006987 deg/s,
      cmd heading: 118.682118 deg,
      new cmd heading: 118.674545 deg.

2025-08-21T06:48:44.106Z,1755758924.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.071262 target range: 37.489620 and range: 37.70 m.
2025-08-21T06:48:44.210Z,1755758924.210 [DAT](INFO): DAT read: Rx Time:06:48:42.9761

2025-08-21T06:48:44.211Z,1755758924.211 [DAT](INFO): Rx dataTimestamp_ set to:1755758924.210335
2025-08-21T06:48:44.212Z,1755758924.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008808
2025-08-21T06:48:44.460Z,1755758924.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256825
2025-08-21T06:48:44.535Z,1755758924.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:44.537Z,1755758924.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.49 m.
2025-08-21T06:48:44.540Z,1755758924.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.489620 m,
      nav range: 35.535736 m,
      bearing: 131.440163 deg,
      approach rate: -0.560517 m/s,
      LOS rate: -0.012990 deg/s,
      cmd heading: 118.674550 deg,
      new cmd heading: 118.657581 deg.

2025-08-21T06:48:44.541Z,1755758924.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070966 target range: 37.489620 and range: 37.70 m.
2025-08-21T06:48:44.723Z,1755758924.723 [DAT](INFO): DAT read: 06:48:42.9761 LVL= 25968, 32753, 29874, 32755, AGC= 67, IDX= 420, 0.18, 3.071, 1.087, 2.841, 2.633, PHS= 0.540,-1.501, 0.164, RAW= 140.0,   8.5, CAL= 139.6,   9.4, ROT=  10.4,  -9.4

2025-08-21T06:48:44.725Z,1755758924.725 [DAT](INFO): got valid direction response:
 06:48:42.9761 LVL= 25968, 32753, 29874, 32755, AGC= 67, IDX= 420, 0.18, 3.071, 1.087, 2.841, 2.633, PHS= 0.540,-1.501, 0.164, RAW= 140.0,   8.5, CAL= 139.6,   9.4, ROT=  10.4,  -9.4

2025-08-21T06:48:44.726Z,1755758924.726 [DAT](INFO): DAT read: Bearing 291.4,   6.9 (Local)

2025-08-21T06:48:44.733Z,1755758924.733 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.4,   6.9 (Local)

2025-08-21T06:48:44.741Z,1755758924.741 [DAT](INFO): DAT read: Range 11 to 50 : 35.7 m  (Round-trip  47.6 ms) speed  0.5 m/s

2025-08-21T06:48:44.742Z,1755758924.742 [DAT](INFO): DAT read: user:1923>

2025-08-21T06:48:44.743Z,1755758924.743 [DAT](INFO): DAT read: Tx time:06:48:44.0744

2025-08-21T06:48:44.747Z,1755758924.747 [DAT](INFO): Ping request sent.
2025-08-21T06:48:44.747Z,1755758924.747 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:44.748Z,1755758924.748 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:44.749Z,1755758924.749 [DAT](INFO): direction in FSK: [0.970364,0.178095,0.163326]
2025-08-21T06:48:44.749Z,1755758924.749 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:44.750Z,1755758924.750 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:44.763Z,1755758924.763 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:44.764Z,1755758924.764 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:44.934Z,1755758924.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.700001 m,
      deltaT: 3.529070 s,
      deltaX: -2.000000 m,
      approachRate: -0.566722 m/s,
      rangeRepo size: 4

2025-08-21T06:48:44.940Z,1755758924.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.500736 m,
      bearing: 130.419324 deg,
      lat: 36.779356 deg,
      lon: -121.859461 deg,
      deltaT: 3.529070 s,
      deltaX: -1.988884 m,
      approachRate: -0.563572 m/s,
      posRepo size: 4

2025-08-21T06:48:44.941Z,1755758924.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:44.948Z,1755758924.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 35.064945 m,
      bearing: 130.904968 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012990 deg/s,
      cmd heading: 118.657584 deg,
      new cmd heading: 118.642165 deg.

2025-08-21T06:48:44.948Z,1755758924.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070696 target range: 35.500736 and range: 35.70 m.
2025-08-21T06:48:45.318Z,1755758925.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:45.321Z,1755758925.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 34.840748 m,
      bearing: 130.896616 deg,
      approach rate: -0.582202 m/s,
      LOS rate: -0.021829 deg/s,
      cmd heading: 118.642162 deg,
      new cmd heading: 118.616943 deg.

2025-08-21T06:48:45.322Z,1755758925.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070256 target range: 35.500736 and range: 35.70 m.
2025-08-21T06:48:45.767Z,1755758925.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:45.770Z,1755758925.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 34.587578 m,
      bearing: 130.888224 deg,
      approach rate: -0.564363 m/s,
      LOS rate: -0.018844 deg/s,
      cmd heading: 118.616945 deg,
      new cmd heading: 118.591585 deg.

2025-08-21T06:48:45.771Z,1755758925.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.069814 target range: 35.500736 and range: 35.70 m.
2025-08-21T06:48:46.134Z,1755758926.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:46.137Z,1755758926.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 34.380421 m,
      bearing: 130.881594 deg,
      approach rate: -0.564453 m/s,
      LOS rate: -0.018174 deg/s,
      cmd heading: 118.591591 deg,
      new cmd heading: 118.571581 deg.

2025-08-21T06:48:46.138Z,1755758926.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.069464 target range: 35.500736 and range: 35.70 m.
2025-08-21T06:48:46.550Z,1755758926.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:46.552Z,1755758926.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:46.554Z,1755758926.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 34.153149 m,
      bearing: 130.866458 deg,
      approach rate: -0.543775 m/s,
      LOS rate: -0.036456 deg/s,
      cmd heading: 118.571579 deg,
      new cmd heading: 118.525869 deg.

2025-08-21T06:48:46.556Z,1755758926.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.068667 target range: 35.500736 and range: 35.70 m.
2025-08-21T06:48:46.729Z,1755758926.729 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:46.729Z,1755758926.729 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:46.730Z,1755758926.730 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:46.933Z,1755758926.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:46.936Z,1755758926.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 33.945503 m,
      bearing: 130.853010 deg,
      approach rate: -0.544167 m/s,
      LOS rate: -0.035457 deg/s,
      cmd heading: 118.525871 deg,
      new cmd heading: 118.485281 deg.

2025-08-21T06:48:46.937Z,1755758926.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067958 target range: 35.500736 and range: 35.70 m.
2025-08-21T06:48:46.981Z,1755758926.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233303
2025-08-21T06:48:47.233Z,1755758927.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485744
2025-08-21T06:48:47.335Z,1755758927.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:47.338Z,1755758927.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 33.726528 m,
      bearing: 130.838975 deg,
      approach rate: -0.545670 m/s,
      LOS rate: -0.035202 deg/s,
      cmd heading: 118.485286 deg,
      new cmd heading: 118.442906 deg.

2025-08-21T06:48:47.339Z,1755758927.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067219 target range: 35.500736 and range: 35.70 m.
2025-08-21T06:48:47.488Z,1755758927.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739366
2025-08-21T06:48:47.736Z,1755758927.736 [DAT](INFO): DAT read: Rx Time:06:48:46.5235

2025-08-21T06:48:47.737Z,1755758927.737 [DAT](INFO): Rx dataTimestamp_ set to:1755758927.736525
2025-08-21T06:48:47.737Z,1755758927.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989890
2025-08-21T06:48:47.803Z,1755758927.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:47.806Z,1755758927.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 33.481327 m,
      bearing: 130.819130 deg,
      approach rate: -0.523866 m/s,
      LOS rate: -0.042708 deg/s,
      cmd heading: 118.442911 deg,
      new cmd heading: 118.382941 deg.

2025-08-21T06:48:47.807Z,1755758927.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.066172 target range: 35.500736 and range: 35.70 m.
2025-08-21T06:48:47.988Z,1755758927.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241007
2025-08-21T06:48:48.140Z,1755758928.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:48.144Z,1755758928.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 33.286175 m,
      bearing: 130.803340 deg,
      approach rate: -0.579637 m/s,
      LOS rate: -0.047174 deg/s,
      cmd heading: 118.382942 deg,
      new cmd heading: 118.335294 deg.

2025-08-21T06:48:48.146Z,1755758928.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065341 target range: 35.500736 and range: 35.70 m.
2025-08-21T06:48:48.250Z,1755758928.250 [DAT](INFO): DAT read: 06:48:46.5235 LVL= 29264, 32753, 32754, 32755, AGC= 65, IDX= 409,-0.21, 2.169,-0.041, 1.882, 1.736, PHS= 0.534,-1.732, 0.102, RAW= 139.6,  10.5, CAL= 139.1,  11.5, ROT -11.5

2025-08-21T06:48:48.251Z,1755758928.251 [DAT](INFO): unknown deviceResponse_: 06:48:46.5235 LVL= 29264, 32753, 32754, 32755, AGC= 65, IDX= 409,-0.21, 2.169,-0.041, 1.882, 1.736, PHS= 0.534,-1.732, 0.102, RAW= 139.6,  10.5, CAL= 139.1,  11.5, ROT -11.5

2025-08-21T06:48:48.252Z,1755758928.252 [DAT](INFO): DAT read: Bearing 293.7,   7.1 (Local)

2025-08-21T06:48:48.253Z,1755758928.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.7,   7.1 (Local)

2025-08-21T06:48:48.254Z,1755758928.254 [DAT](INFO): DAT read: Range 11 to 50 : 33.7 m  (Round-trip  45.0 ms) speed  0.5 m/s

2025-08-21T06:48:48.255Z,1755758928.255 [DAT](INFO): DAT read: user:1924>

2025-08-21T06:48:48.256Z,1755758928.256 [DAT](INFO): DAT read: Tx time:06:48:47.6244

2025-08-21T06:48:48.256Z,1755758928.256 [DAT](INFO): Ping request sent.
2025-08-21T06:48:48.256Z,1755758928.256 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:48.256Z,1755758928.256 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T06:48:48.257Z,1755758928.257 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:48.257Z,1755758928.257 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:48.570Z,1755758928.570 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:48.573Z,1755758928.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.700001 m,
      deltaT: 3.528615 s,
      deltaX: -2.000000 m,
      approachRate: -0.566795 m/s,
      rangeRepo size: 4

2025-08-21T06:48:48.573Z,1755758928.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:48.576Z,1755758928.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 33.053936 m,
      bearing: 130.782142 deg,
      approach rate: -0.536911 m/s,
      LOS rate: -0.049352 deg/s,
      cmd heading: 118.335295 deg,
      new cmd heading: 118.271255 deg.

2025-08-21T06:48:48.577Z,1755758928.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.064223 target range: 35.500736 and range: 33.70 m.
2025-08-21T06:48:48.744Z,1755758928.744 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:48.744Z,1755758928.744 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:48.744Z,1755758928.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:48.955Z,1755758928.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:48.958Z,1755758928.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 32.847569 m,
      bearing: 130.763319 deg,
      approach rate: -0.538372 m/s,
      LOS rate: -0.049413 deg/s,
      cmd heading: 118.271255 deg,
      new cmd heading: 118.214433 deg.

2025-08-21T06:48:48.959Z,1755758928.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.063231 target range: 35.500736 and range: 33.70 m.
2025-08-21T06:48:48.997Z,1755758928.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.740665
2025-08-21T06:48:49.248Z,1755758929.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992007
2025-08-21T06:48:49.355Z,1755758929.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:49.358Z,1755758929.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 32.632637 m,
      bearing: 130.743750 deg,
      approach rate: -0.537910 m/s,
      LOS rate: -0.049298 deg/s,
      cmd heading: 118.214428 deg,
      new cmd heading: 118.155334 deg.

2025-08-21T06:48:49.359Z,1755758929.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.062200 target range: 35.500736 and range: 33.70 m.
2025-08-21T06:48:49.504Z,1755758929.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247539
2025-08-21T06:48:49.752Z,1755758929.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496162
2025-08-21T06:48:49.790Z,1755758929.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:49.793Z,1755758929.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 32.402710 m,
      bearing: 130.720644 deg,
      approach rate: -0.528317 m/s,
      LOS rate: -0.053469 deg/s,
      cmd heading: 118.155333 deg,
      new cmd heading: 118.085523 deg.

2025-08-21T06:48:49.794Z,1755758929.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060981 target range: 35.500736 and range: 33.70 m.
2025-08-21T06:48:50.006Z,1755758930.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749868
2025-08-21T06:48:50.176Z,1755758930.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:50.179Z,1755758930.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 32.201614 m,
      bearing: 130.700451 deg,
      approach rate: -0.522233 m/s,
      LOS rate: -0.052767 deg/s,
      cmd heading: 118.085529 deg,
      new cmd heading: 118.024572 deg.

2025-08-21T06:48:50.180Z,1755758930.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059917 target range: 35.500736 and range: 33.70 m.
2025-08-21T06:48:50.257Z,1755758930.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000987
2025-08-21T06:48:50.511Z,1755758930.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254316
2025-08-21T06:48:50.586Z,1755758930.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:50.589Z,1755758930.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:50.612Z,1755758930.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 31.975111 m,
      bearing: 130.675061 deg,
      approach rate: -0.547566 m/s,
      LOS rate: -0.061814 deg/s,
      cmd heading: 118.024576 deg,
      new cmd heading: 117.947867 deg.

2025-08-21T06:48:50.613Z,1755758930.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058579 target range: 35.500736 and range: 33.70 m.
2025-08-21T06:48:50.760Z,1755758930.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504004
2025-08-21T06:48:50.976Z,1755758930.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:50.978Z,1755758930.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 31.764780 m,
      bearing: 130.651514 deg,
      approach rate: -0.543942 m/s,
      LOS rate: -0.061301 deg/s,
      cmd heading: 117.947873 deg,
      new cmd heading: 117.876761 deg.

2025-08-21T06:48:50.979Z,1755758930.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057338 target range: 35.500736 and range: 33.70 m.
2025-08-21T06:48:51.013Z,1755758931.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756894
2025-08-21T06:48:51.264Z,1755758931.264 [DAT](INFO): DAT read: Rx Time:06:48:50.0708

2025-08-21T06:48:51.265Z,1755758931.265 [DAT](INFO): Rx dataTimestamp_ set to:1755758931.264476
2025-08-21T06:48:51.265Z,1755758931.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009142
2025-08-21T06:48:51.403Z,1755758931.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T06:48:51.406Z,1755758931.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.500736 m,
      nav range: 31.539389 m,
      bearing: 130.625930 deg,
      approach rate: -0.527008 m/s,
      LOS rate: -0.060247 deg/s,
      cmd heading: 117.876757 deg,
      new cmd heading: 117.799458 deg.

2025-08-21T06:48:51.407Z,1755758931.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055988 target range: 35.500736 and range: 33.70 m.
2025-08-21T06:48:51.519Z,1755758931.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262562
2025-08-21T06:48:51.789Z,1755758931.789 [DAT](INFO): DAT read: 06:48:50.0708 LVL= 29520, 32753, 32754, 32755, AGC= 66, IDX= 414, 0.50,-0.259,-2.401,-0.545,-0.726, PHS= 0.568,-1.630, 0.136, RAW= 139.3,   9.2, CAL= 138.9,  10.1, ROT=  11.1, -10.1

2025-08-21T06:48:51.791Z,1755758931.791 [DAT](INFO): got valid direction response:
 06:48:50.0708 LVL= 29520, 32753, 32754, 32755, AGC= 66, IDX= 414, 0.50,-0.259,-2.401,-0.545,-0.726, PHS= 0.568,-1.630, 0.136, RAW= 139.3,   9.2, CAL= 138.9,  10.1, ROT=  11.1, -10.1

2025-08-21T06:48:51.796Z,1755758931.796 [DAT](INFO): DAT read: Bearing 292.3,   7.1 (Local)

2025-08-21T06:48:51.796Z,1755758931.796 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.3,   7.1 (Local)

2025-08-21T06:48:51.798Z,1755758931.798 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m  (Round-trip  42.3 ms) speed  0.4 m/s

2025-08-21T06:48:51.798Z,1755758931.798 [DAT](INFO): DAT read: user:1925>

2025-08-21T06:48:51.803Z,1755758931.803 [DAT](INFO): DAT read: Tx time:06:48:51.1744

2025-08-21T06:48:51.803Z,1755758931.803 [DAT](INFO): Ping request sent.
2025-08-21T06:48:51.804Z,1755758931.804 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:51.804Z,1755758931.804 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:51.805Z,1755758931.805 [DAT](INFO): direction in FSK: [0.966086,0.189538,0.175367]
2025-08-21T06:48:51.805Z,1755758931.805 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:51.805Z,1755758931.805 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:51.813Z,1755758931.813 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:51.813Z,1755758931.813 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:52.017Z,1755758932.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.700001 m,
      deltaT: 3.528144 s,
      deltaX: -2.000000 m,
      approachRate: -0.566870 m/s,
      rangeRepo size: 4

2025-08-21T06:48:52.024Z,1755758932.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.523548 m,
      bearing: 130.294405 deg,
      lat: 36.779356 deg,
      lon: -121.859459 deg,
      deltaT: 7.056759 s,
      deltaX: -3.977188 m,
      approachRate: -0.563600 m/s,
      posRepo size: 4

2025-08-21T06:48:52.024Z,1755758932.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T06:48:52.032Z,1755758932.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.523548 m,
      nav range: 31.321438 m,
      bearing: 130.415538 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.060247 deg/s,
      cmd heading: 117.799453 deg,
      new cmd heading: 117.688547 deg.

2025-08-21T06:48:52.033Z,1755758932.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054053 target range: 31.523548 and range: 31.70 m.
2025-08-21T06:48:52.354Z,1755758932.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T06:48:52.389Z,1755758932.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.523548 m,
      nav range: 31.103552 m,
      bearing: 130.402316 deg,
      approach rate: -0.646726 m/s,
      LOS rate: -0.039519 deg/s,
      cmd heading: 117.688544 deg,
      new cmd heading: 117.648602 deg.

2025-08-21T06:48:52.389Z,1755758932.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053355 target range: 31.523548 and range: 31.70 m.
2025-08-21T06:48:52.811Z,1755758932.811 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:52.813Z,1755758932.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T06:48:52.816Z,1755758932.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.523548 m,
      nav range: 30.856359 m,
      bearing: 130.392913 deg,
      approach rate: -0.538067 m/s,
      LOS rate: -0.020631 deg/s,
      cmd heading: 117.648601 deg,
      new cmd heading: 117.620167 deg.

2025-08-21T06:48:52.817Z,1755758932.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052859 target range: 31.523548 and range: 31.70 m.
2025-08-21T06:48:53.028Z,1755758933.028 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:53.028Z,1755758933.028 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:53.029Z,1755758933.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:53.198Z,1755758933.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T06:48:53.235Z,1755758933.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.523548 m,
      nav range: 30.661688 m,
      bearing: 130.385879 deg,
      approach rate: -0.506516 m/s,
      LOS rate: -0.018419 deg/s,
      cmd heading: 117.620161 deg,
      new cmd heading: 117.598923 deg.

2025-08-21T06:48:53.240Z,1755758933.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052488 target range: 31.523548 and range: 31.70 m.
2025-08-21T06:48:53.281Z,1755758933.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.477521
2025-08-21T06:48:53.535Z,1755758933.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730569
2025-08-21T06:48:53.650Z,1755758933.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T06:48:53.653Z,1755758933.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.523548 m,
      nav range: 30.394533 m,
      bearing: 130.382222 deg,
      approach rate: -0.590258 m/s,
      LOS rate: -0.008151 deg/s,
      cmd heading: 117.598919 deg,
      new cmd heading: 117.587851 deg.

2025-08-21T06:48:53.654Z,1755758933.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052295 target range: 31.523548 and range: 31.70 m.
2025-08-21T06:48:53.785Z,1755758933.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.981109
2025-08-21T06:48:53.990Z,1755758933.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T06:48:53.993Z,1755758933.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.523548 m,
      nav range: 30.216589 m,
      bearing: 130.380100 deg,
      approach rate: -0.522861 m/s,
      LOS rate: -0.006271 deg/s,
      cmd heading: 117.587854 deg,
      new cmd heading: 117.581451 deg.

2025-08-21T06:48:53.994Z,1755758933.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052183 target range: 31.523548 and range: 31.70 m.
2025-08-21T06:48:54.037Z,1755758934.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233820
2025-08-21T06:48:54.288Z,1755758934.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484585
2025-08-21T06:48:54.385Z,1755758934.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T06:48:54.388Z,1755758934.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.523548 m,
      nav range: 29.989998 m,
      bearing: 130.377484 deg,
      approach rate: -0.573935 m/s,
      LOS rate: -0.006676 deg/s,
      cmd heading: 117.581447 deg,
      new cmd heading: 117.573540 deg.

2025-08-21T06:48:54.389Z,1755758934.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052045 target range: 31.523548 and range: 31.70 m.
2025-08-21T06:48:54.543Z,1755758934.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738854
2025-08-21T06:48:54.792Z,1755758934.792 [DAT](INFO): DAT read: Rx Time:06:48:53.6183

2025-08-21T06:48:54.793Z,1755758934.793 [DAT](INFO): Rx dataTimestamp_ set to:1755758934.792347
2025-08-21T06:48:54.793Z,1755758934.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989587
2025-08-21T06:48:54.838Z,1755758934.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:54.844Z,1755758934.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T06:48:54.847Z,1755758934.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.523548 m,
      nav range: 29.739048 m,
      bearing: 130.388513 deg,
      approach rate: -0.547006 m/s,
      LOS rate: 0.024242 deg/s,
      cmd heading: 117.573538 deg,
      new cmd heading: 117.606902 deg.

2025-08-21T06:48:54.852Z,1755758934.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052628 target range: 31.523548 and range: 31.70 m.
2025-08-21T06:48:55.045Z,1755758935.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241351
2025-08-21T06:48:55.231Z,1755758935.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T06:48:55.234Z,1755758935.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.523548 m,
      nav range: 29.537477 m,
      bearing: 130.397838 deg,
      approach rate: -0.520660 m/s,
      LOS rate: 0.024253 deg/s,
      cmd heading: 117.606896 deg,
      new cmd heading: 117.635065 deg.

2025-08-21T06:48:55.235Z,1755758935.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053119 target range: 31.523548 and range: 31.70 m.
2025-08-21T06:48:55.301Z,1755758935.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496477
2025-08-21T06:48:55.571Z,1755758935.571 [DAT](INFO): DAT read: 06:48:53.6183 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.19, 2.307, 0.181, 1.993, 1.824, PHS= 0.585,-1.598, 0.125, RAW= 138.4,   8.9, CAL= 138.1,   9.9, ROT=  11.9,  -9.9

2025-08-21T06:48:55.574Z,1755758935.574 [DAT](INFO): got valid direction response:
 06:48:53.6183 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 420, 0.19, 2.307, 0.181, 1.993, 1.824, PHS= 0.585,-1.598, 0.125, RAW= 138.4,   8.9, CAL= 138.1,   9.9, ROT=  11.9,  -9.9

2025-08-21T06:48:55.586Z,1755758935.586 [DAT](INFO): DAT read: Bearing 292.3,   7.3 (Local)

2025-08-21T06:48:55.591Z,1755758935.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.3,   7.3 (Local)

2025-08-21T06:48:55.619Z,1755758935.619 [DAT](INFO): DAT read: Range 11 to 50 : 29.8 m  (Round-trip  39.8 ms) speed  0.4 m/s

2025-08-21T06:48:55.620Z,1755758935.620 [DAT](INFO): DAT read: user:1926>

2025-08-21T06:48:55.621Z,1755758935.621 [DAT](INFO): DAT read: Tx time:06:48:54.7244

2025-08-21T06:48:55.621Z,1755758935.621 [DAT](INFO): Ping request sent.
2025-08-21T06:48:55.621Z,1755758935.621 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:55.621Z,1755758935.621 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:55.622Z,1755758935.622 [DAT](INFO): direction in FSK: [0.963938,0.203134,0.171929]
2025-08-21T06:48:55.623Z,1755758935.623 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:55.623Z,1755758935.623 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:55.642Z,1755758935.642 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:55.642Z,1755758935.642 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:55.830Z,1755758935.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.799999 m,
      deltaT: 3.779382 s,
      deltaX: -1.900002 m,
      approachRate: -0.502728 m/s,
      rangeRepo size: 4

2025-08-21T06:48:55.849Z,1755758935.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.634516 m,
      bearing: 130.803150 deg,
      lat: 36.779356 deg,
      lon: -121.859458 deg,
      deltaT: 3.779382 s,
      deltaX: -1.889032 m,
      approachRate: -0.499826 m/s,
      posRepo size: 4

2025-08-21T06:48:55.849Z,1755758935.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.63 m.
2025-08-21T06:48:55.856Z,1755758935.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.634516 m,
      nav range: 29.223600 m,
      bearing: 130.347717 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024253 deg/s,
      cmd heading: 117.635064 deg,
      new cmd heading: 117.678628 deg.

2025-08-21T06:48:55.857Z,1755758935.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053879 target range: 29.634516 and range: 29.80 m.
2025-08-21T06:48:56.273Z,1755758936.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.63 m.
2025-08-21T06:48:56.276Z,1755758936.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.634516 m,
      nav range: 28.966120 m,
      bearing: 130.365854 deg,
      approach rate: -0.580813 m/s,
      LOS rate: 0.041275 deg/s,
      cmd heading: 117.678627 deg,
      new cmd heading: 117.733520 deg.

2025-08-21T06:48:56.277Z,1755758936.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054837 target range: 29.634516 and range: 29.80 m.
2025-08-21T06:48:56.666Z,1755758936.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.63 m.
2025-08-21T06:48:56.694Z,1755758936.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.634516 m,
      nav range: 28.744274 m,
      bearing: 130.379938 deg,
      approach rate: -0.564820 m/s,
      LOS rate: 0.036135 deg/s,
      cmd heading: 117.733514 deg,
      new cmd heading: 117.776093 deg.

2025-08-21T06:48:56.700Z,1755758936.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055581 target range: 29.634516 and range: 29.80 m.
2025-08-21T06:48:57.050Z,1755758937.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:57.060Z,1755758937.060 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:48:57.060Z,1755758937.060 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:48:57.060Z,1755758937.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:48:57.072Z,1755758937.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.63 m.
2025-08-21T06:48:57.074Z,1755758937.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.634516 m,
      nav range: 28.526373 m,
      bearing: 130.394359 deg,
      approach rate: -0.541767 m/s,
      LOS rate: 0.036128 deg/s,
      cmd heading: 117.776094 deg,
      new cmd heading: 117.819686 deg.

2025-08-21T06:48:57.075Z,1755758937.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056341 target range: 29.634516 and range: 29.80 m.
2025-08-21T06:48:57.313Z,1755758937.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.691379
2025-08-21T06:48:57.460Z,1755758937.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.63 m.
2025-08-21T06:48:57.463Z,1755758937.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.634516 m,
      nav range: 28.296064 m,
      bearing: 130.410172 deg,
      approach rate: -0.587645 m/s,
      LOS rate: 0.040676 deg/s,
      cmd heading: 117.819684 deg,
      new cmd heading: 117.867509 deg.

2025-08-21T06:48:57.464Z,1755758937.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057176 target range: 29.634516 and range: 29.80 m.
2025-08-21T06:48:57.564Z,1755758937.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.943236
2025-08-21T06:48:57.816Z,1755758937.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194902
2025-08-21T06:48:57.876Z,1755758937.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.63 m.
2025-08-21T06:48:57.879Z,1755758937.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.634516 m,
      nav range: 28.070034 m,
      bearing: 130.421027 deg,
      approach rate: -0.543090 m/s,
      LOS rate: 0.026292 deg/s,
      cmd heading: 117.867509 deg,
      new cmd heading: 117.900336 deg.

2025-08-21T06:48:57.888Z,1755758937.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057749 target range: 29.634516 and range: 29.80 m.
2025-08-21T06:48:58.072Z,1755758938.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.450405
2025-08-21T06:48:58.265Z,1755758938.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.63 m.
2025-08-21T06:48:58.284Z,1755758938.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.634516 m,
      nav range: 27.836033 m,
      bearing: 130.432911 deg,
      approach rate: -0.601708 m/s,
      LOS rate: 0.030817 deg/s,
      cmd heading: 117.900335 deg,
      new cmd heading: 117.936288 deg.

2025-08-21T06:48:58.285Z,1755758938.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058377 target range: 29.634516 and range: 29.80 m.
2025-08-21T06:48:58.321Z,1755758938.321 [DAT](INFO): DAT read: Rx Time:06:48:57.1657

2025-08-21T06:48:58.321Z,1755758938.321 [DAT](INFO): Rx dataTimestamp_ set to:1755758938.320699
2025-08-21T06:48:58.322Z,1755758938.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.700340
2025-08-21T06:48:58.572Z,1755758938.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.951036
2025-08-21T06:48:58.726Z,1755758938.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.63 m.
2025-08-21T06:48:58.733Z,1755758938.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.634516 m,
      nav range: 27.587372 m,
      bearing: 130.444622 deg,
      approach rate: -0.539604 m/s,
      LOS rate: 0.025642 deg/s,
      cmd heading: 117.936289 deg,
      new cmd heading: 117.971738 deg.

2025-08-21T06:48:58.734Z,1755758938.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058995 target range: 29.634516 and range: 29.80 m.
2025-08-21T06:48:58.828Z,1755758938.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.205738
2025-08-21T06:48:59.066Z,1755758939.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:48:59.068Z,1755758939.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.63 m.
2025-08-21T06:48:59.082Z,1755758939.082 [DAT](INFO): DAT read: 06:48:57.1657 LVL= 29296, 32753, 32754, 32755, AGC= 65, IDX= 410, 0.09,-1.950, 2.237,-2.282,-2.390, PHS= 0.542,-1.611, 0.064, RAW= 137.8,  10.3, CAL= 137.3,  11.3, ROT=  12.7, -11.3

2025-08-21T06:48:59.083Z,1755758939.083 [DAT](INFO): got valid direction response:
 06:48:57.1657 LVL= 29296, 32753, 32754, 32755, AGC= 65, IDX= 410, 0.09,-1.950, 2.237,-2.282,-2.390, PHS= 0.542,-1.611, 0.064, RAW= 137.8,  10.3, CAL= 137.3,  11.3, ROT=  12.7, -11.3

2025-08-21T06:48:59.084Z,1755758939.084 [DAT](INFO): DAT read: Bearing 293.7,   7.7 (Local)

2025-08-21T06:48:59.084Z,1755758939.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.7,   7.7 (Local)

2025-08-21T06:48:59.086Z,1755758939.086 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m  (Round-trip  37.3 ms) speed  0.5 m/s

2025-08-21T06:48:59.086Z,1755758939.086 [DAT](INFO): DAT read: user:1927>

2025-08-21T06:48:59.087Z,1755758939.087 [DAT](INFO): DAT read: Tx time:06:48:58.2743

2025-08-21T06:48:59.088Z,1755758939.088 [DAT](INFO): Ping request sent.
2025-08-21T06:48:59.088Z,1755758939.088 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:48:59.088Z,1755758939.088 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:48:59.089Z,1755758939.089 [DAT](INFO): direction in FSK: [0.956623,0.215584,0.195946]
2025-08-21T06:48:59.089Z,1755758939.089 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:59.089Z,1755758939.089 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:59.093Z,1755758939.093 [DAT](INFO): publishing transmit ping time
2025-08-21T06:48:59.093Z,1755758939.093 [DAT](INFO): publishing direction and range info
2025-08-21T06:48:59.071Z,1755758939.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.634516 m,
      nav range: 27.370647 m,
      bearing: 130.455108 deg,
      approach rate: -0.633020 m/s,
      LOS rate: 0.030871 deg/s,
      cmd heading: 117.971738 deg,
      new cmd heading: 118.003445 deg.

2025-08-21T06:48:59.108Z,1755758939.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059549 target range: 29.634516 and range: 29.80 m.
2025-08-21T06:48:59.485Z,1755758939.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.900000 m,
      deltaT: 3.526716 s,
      deltaX: -1.900000 m,
      approachRate: -0.538745 m/s,
      rangeRepo size: 4

2025-08-21T06:48:59.487Z,1755758939.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.745026 m,
      bearing: 131.201737 deg,
      lat: 36.779356 deg,
      lon: -121.859458 deg,
      deltaT: 3.526716 s,
      deltaX: -1.889490 m,
      approachRate: -0.535765 m/s,
      posRepo size: 4

2025-08-21T06:48:59.488Z,1755758939.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:48:59.490Z,1755758939.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 27.189676 m,
      bearing: 130.425679 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030871 deg/s,
      cmd heading: 118.003443 deg,
      new cmd heading: 118.041985 deg.

2025-08-21T06:48:59.492Z,1755758939.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060221 target range: 27.745026 and range: 27.90 m.
2025-08-21T06:48:59.911Z,1755758939.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:48:59.918Z,1755758939.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 26.963564 m,
      bearing: 130.417641 deg,
      approach rate: -0.530317 m/s,
      LOS rate: -0.019010 deg/s,
      cmd heading: 118.041979 deg,
      new cmd heading: 118.017663 deg.

2025-08-21T06:48:59.919Z,1755758939.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059797 target range: 27.745026 and range: 27.90 m.
2025-08-21T06:49:00.299Z,1755758940.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:00.301Z,1755758940.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 26.742561 m,
      bearing: 130.409654 deg,
      approach rate: -0.570011 m/s,
      LOS rate: -0.020772 deg/s,
      cmd heading: 118.017664 deg,
      new cmd heading: 117.993503 deg.

2025-08-21T06:49:00.302Z,1755758940.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.059375 target range: 27.745026 and range: 27.90 m.
2025-08-21T06:49:00.744Z,1755758940.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:00.747Z,1755758940.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 26.496098 m,
      bearing: 130.399027 deg,
      approach rate: -0.552666 m/s,
      LOS rate: -0.024052 deg/s,
      cmd heading: 117.993499 deg,
      new cmd heading: 117.961321 deg.

2025-08-21T06:49:00.748Z,1755758940.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058813 target range: 27.745026 and range: 27.90 m.
2025-08-21T06:49:01.105Z,1755758941.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:01.112Z,1755758941.112 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:01.112Z,1755758941.112 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:01.113Z,1755758941.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:01.116Z,1755758941.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:01.119Z,1755758941.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 26.307402 m,
      bearing: 130.390897 deg,
      approach rate: -0.519760 m/s,
      LOS rate: -0.022554 deg/s,
      cmd heading: 117.961315 deg,
      new cmd heading: 117.936751 deg.

2025-08-21T06:49:01.124Z,1755758941.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.058385 target range: 27.745026 and range: 27.90 m.
2025-08-21T06:49:01.364Z,1755758941.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276784
2025-08-21T06:49:01.515Z,1755758941.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:01.536Z,1755758941.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 26.076769 m,
      bearing: 130.380801 deg,
      approach rate: -0.566362 m/s,
      LOS rate: -0.025013 deg/s,
      cmd heading: 117.936753 deg,
      new cmd heading: 117.906197 deg.

2025-08-21T06:49:01.537Z,1755758941.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057851 target range: 27.745026 and range: 27.90 m.
2025-08-21T06:49:01.621Z,1755758941.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533205
2025-08-21T06:49:01.649Z,1755758941.649 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:49:01.868Z,1755758941.868 [DAT](INFO): DAT read: Rx Time:06:49:00.7131

2025-08-21T06:49:01.869Z,1755758941.869 [DAT](INFO): Rx dataTimestamp_ set to:1755758941.868590
2025-08-21T06:49:01.869Z,1755758941.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781748
2025-08-21T06:49:01.937Z,1755758941.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:01.944Z,1755758941.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 25.852571 m,
      bearing: 130.362737 deg,
      approach rate: -0.530705 m/s,
      LOS rate: -0.043129 deg/s,
      cmd heading: 117.906195 deg,
      new cmd heading: 117.851535 deg.

2025-08-21T06:49:01.945Z,1755758941.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056897 target range: 27.745026 and range: 27.90 m.
2025-08-21T06:49:02.120Z,1755758942.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032494
2025-08-21T06:49:02.302Z,1755758942.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:02.305Z,1755758942.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 25.650766 m,
      bearing: 130.346420 deg,
      approach rate: -0.553388 m/s,
      LOS rate: -0.045097 deg/s,
      cmd heading: 117.851540 deg,
      new cmd heading: 117.802203 deg.

2025-08-21T06:49:02.306Z,1755758942.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.056036 target range: 27.745026 and range: 27.90 m.
2025-08-21T06:49:02.377Z,1755758942.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288402
2025-08-21T06:49:02.630Z,1755758942.630 [DAT](INFO): DAT read: 06:49:00.7131 LVL= 28832, 32753, 32754, 32755, AGC= 64, IDX= 415, 0.26, 0.54, 0.175, 0.093, PHS= 0.551,-1.616, 0.038, RAW= 136.9,  10.5, CAL= 136.5,  11.5, ROT=  13.5, -11.5

2025-08-21T06:49:02.631Z,1755758942.631 [DAT](INFO): unknown deviceResponse_: 06:49:00.7131 LVL= 28832, 32753, 32754, 32755, AGC= 64, IDX= 415, 0.26, 0.54, 0.175, 0.093, PHS= 0.551,-1.616, 0.038, RAW= 136.9,  10.5, CAL= 136.5,  11.5, ROT=  13.5, -11.5

2025-08-21T06:49:02.632Z,1755758942.632 [DAT](INFO): DAT read: Bearing 294.3,   8.5 (Local)

2025-08-21T06:49:02.632Z,1755758942.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing 294.3,   8.5 (Local)

2025-08-21T06:49:02.635Z,1755758942.635 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m  (Round-trip  34.7 ms) speed  0.6 m/s

2025-08-21T06:49:02.637Z,1755758942.637 [DAT](INFO): DAT read: user:1928>

2025-08-21T06:49:02.653Z,1755758942.653 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:49:02.662Z,1755758942.662 [DAT](INFO): DAT read: Tx time:06:49:01.8258

2025-08-21T06:49:02.688Z,1755758942.688 [DAT](INFO): Ping request sent.
2025-08-21T06:49:02.689Z,1755758942.689 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:02.690Z,1755758942.690 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T06:49:02.691Z,1755758942.691 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:02.701Z,1755758942.701 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:02.837Z,1755758942.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.000000 m,
      deltaT: 3.548294 s,
      deltaX: -1.900000 m,
      approachRate: -0.535468 m/s,
      rangeRepo size: 4

2025-08-21T06:49:02.837Z,1755758942.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:02.844Z,1755758942.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 25.373358 m,
      bearing: 130.312404 deg,
      approach rate: -0.519150 m/s,
      LOS rate: -0.064355 deg/s,
      cmd heading: 117.802199 deg,
      new cmd heading: 117.699034 deg.

2025-08-21T06:49:02.845Z,1755758942.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.054236 target range: 27.745026 and range: 26.00 m.
2025-08-21T06:49:03.131Z,1755758943.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:03.133Z,1755758943.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:03.152Z,1755758943.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 25.194233 m,
      bearing: 130.290041 deg,
      approach rate: -0.603756 m/s,
      LOS rate: -0.075913 deg/s,
      cmd heading: 117.699036 deg,
      new cmd heading: 117.631469 deg.

2025-08-21T06:49:03.154Z,1755758943.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053056 target range: 27.745026 and range: 26.00 m.
2025-08-21T06:49:03.380Z,1755758943.380 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:03.380Z,1755758943.380 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:03.380Z,1755758943.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:03.520Z,1755758943.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:03.523Z,1755758943.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 24.980366 m,
      bearing: 130.263636 deg,
      approach rate: -0.552620 m/s,
      LOS rate: -0.068811 deg/s,
      cmd heading: 117.631471 deg,
      new cmd heading: 117.551580 deg.

2025-08-21T06:49:03.524Z,1755758943.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.051662 target range: 27.745026 and range: 26.00 m.
2025-08-21T06:49:03.633Z,1755758943.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.944632
2025-08-21T06:49:03.884Z,1755758943.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.196047
2025-08-21T06:49:03.946Z,1755758943.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:03.949Z,1755758943.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 24.751530 m,
      bearing: 130.238153 deg,
      approach rate: -0.536742 m/s,
      LOS rate: -0.060326 deg/s,
      cmd heading: 117.551585 deg,
      new cmd heading: 117.474427 deg.

2025-08-21T06:49:03.950Z,1755758943.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050316 target range: 27.745026 and range: 26.00 m.
2025-08-21T06:49:04.136Z,1755758944.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.448328
2025-08-21T06:49:04.327Z,1755758944.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:04.330Z,1755758944.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 24.547010 m,
      bearing: 130.215304 deg,
      approach rate: -0.536924 m/s,
      LOS rate: -0.060485 deg/s,
      cmd heading: 117.474432 deg,
      new cmd heading: 117.405314 deg.

2025-08-21T06:49:04.331Z,1755758944.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049109 target range: 27.745026 and range: 26.00 m.
2025-08-21T06:49:04.389Z,1755758944.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.701015
2025-08-21T06:49:04.640Z,1755758944.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.952359
2025-08-21T06:49:04.809Z,1755758944.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:04.812Z,1755758944.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 24.279030 m,
      bearing: 130.203106 deg,
      approach rate: -0.555951 m/s,
      LOS rate: -0.025585 deg/s,
      cmd heading: 117.405310 deg,
      new cmd heading: 117.368313 deg.

2025-08-21T06:49:04.813Z,1755758944.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048464 target range: 27.745026 and range: 26.00 m.
2025-08-21T06:49:04.893Z,1755758944.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.204444
2025-08-21T06:49:05.133Z,1755758945.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:05.135Z,1755758945.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 24.099169 m,
      bearing: 130.195230 deg,
      approach rate: -0.556152 m/s,
      LOS rate: -0.024535 deg/s,
      cmd heading: 117.368318 deg,
      new cmd heading: 117.344514 deg.

2025-08-21T06:49:05.136Z,1755758945.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.048048 target range: 27.745026 and range: 26.00 m.
2025-08-21T06:49:05.145Z,1755758945.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.456580
2025-08-21T06:49:05.396Z,1755758945.396 [DAT](INFO): DAT read: Rx Time:06:49:04.2621

2025-08-21T06:49:05.397Z,1755758945.397 [DAT](INFO): Rx dataTimestamp_ set to:1755758945.396498
2025-08-21T06:49:05.397Z,1755758945.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.709243
2025-08-21T06:49:05.538Z,1755758945.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:05.541Z,1755758945.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:05.544Z,1755758945.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 23.872469 m,
      bearing: 130.185559 deg,
      approach rate: -0.555365 m/s,
      LOS rate: -0.023917 deg/s,
      cmd heading: 117.344508 deg,
      new cmd heading: 117.315218 deg.

2025-08-21T06:49:05.545Z,1755758945.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047537 target range: 27.745026 and range: 26.00 m.
2025-08-21T06:49:05.649Z,1755758945.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.960731
2025-08-21T06:49:05.900Z,1755758945.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.212064
2025-08-21T06:49:06.029Z,1755758946.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.75 m.
2025-08-21T06:49:06.032Z,1755758946.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.745026 m,
      nav range: 23.616125 m,
      bearing: 130.171245 deg,
      approach rate: -0.524548 m/s,
      LOS rate: -0.029607 deg/s,
      cmd heading: 117.315220 deg,
      new cmd heading: 117.271814 deg.

2025-08-21T06:49:06.033Z,1755758946.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046779 target range: 27.745026 and range: 26.00 m.
2025-08-21T06:49:06.162Z,1755758946.162 [DAT](INFO): DAT read: 06:49:04.2621 LVL= 28496, 32753, 32562, 32755, AGC= 62, IDX= 420, 0.16, 0.849,-1.280, 0.417, 0.387, PHS= 0.564,-1.622,-0.014, RAW= 135.2,  10.9, CAL= 134.7,  12.0, ROT=  15.3, -12.0

2025-08-21T06:49:06.165Z,1755758946.165 [DAT](INFO): got valid direction response:
 06:49:04.2621 LVL= 28496, 32753, 32562, 32755, AGC= 62, IDX= 420, 0.16, 0.849,-1.280, 0.417, 0.387, PHS= 0.564,-1.622,-0.014, RAW= 135.2,  10.9, CAL= 134.7,  12.0, ROT=  15.3, -12.0

2025-08-21T06:49:06.171Z,1755758946.171 [DAT](INFO): DAT read: Bearing 295.0,   9.9 (Local)

2025-08-21T06:49:06.172Z,1755758946.172 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.0,   9.9 (Local)

2025-08-21T06:49:06.175Z,1755758946.175 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m  (Round-trip  32.1 ms) speed  0.4 m/s

2025-08-21T06:49:06.185Z,1755758946.185 [DAT](INFO): DAT read: user:1929>

2025-08-21T06:49:06.186Z,1755758946.186 [DAT](INFO): DAT read: Tx time:06:49:05.3758

2025-08-21T06:49:06.186Z,1755758946.186 [DAT](INFO): Ping request sent.
2025-08-21T06:49:06.187Z,1755758946.187 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:06.196Z,1755758946.196 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:06.197Z,1755758946.197 [DAT](INFO): direction in FSK: [0.943480,0.258107,0.207912]
2025-08-21T06:49:06.197Z,1755758946.197 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:06.197Z,1755758946.197 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:06.229Z,1755758946.229 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:06.229Z,1755758946.229 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:06.397Z,1755758946.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 3.528422 s,
      deltaX: -2.000000 m,
      approachRate: -0.566826 m/s,
      rangeRepo size: 4

2025-08-21T06:49:06.404Z,1755758946.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.868299 m,
      bearing: 133.088408 deg,
      lat: 36.779353 deg,
      lon: -121.859458 deg,
      deltaT: 7.076716 s,
      deltaX: -3.876726 m,
      approachRate: -0.547814 m/s,
      posRepo size: 4

2025-08-21T06:49:06.405Z,1755758946.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T06:49:06.412Z,1755758946.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.868299 m,
      nav range: 23.648746 m,
      bearing: 130.778112 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029607 deg/s,
      cmd heading: 117.271821 deg,
      new cmd heading: 117.239221 deg.

2025-08-21T06:49:06.413Z,1755758946.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046211 target range: 23.868299 and range: 24.00 m.
2025-08-21T06:49:06.816Z,1755758946.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T06:49:06.841Z,1755758946.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.868299 m,
      nav range: 23.413328 m,
      bearing: 130.786720 deg,
      approach rate: -0.561563 m/s,
      LOS rate: 0.020740 deg/s,
      cmd heading: 117.239227 deg,
      new cmd heading: 117.265311 deg.

2025-08-21T06:49:06.841Z,1755758946.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.046666 target range: 23.868299 and range: 24.00 m.
2025-08-21T06:49:07.206Z,1755758947.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T06:49:07.209Z,1755758947.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.868299 m,
      nav range: 23.206442 m,
      bearing: 130.794722 deg,
      approach rate: -0.529940 m/s,
      LOS rate: 0.020680 deg/s,
      cmd heading: 117.265305 deg,
      new cmd heading: 117.289525 deg.

2025-08-21T06:49:07.210Z,1755758947.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047088 target range: 23.868299 and range: 24.00 m.
2025-08-21T06:49:07.587Z,1755758947.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:07.589Z,1755758947.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T06:49:07.592Z,1755758947.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.868299 m,
      nav range: 23.003706 m,
      bearing: 130.802937 deg,
      approach rate: -0.529135 m/s,
      LOS rate: 0.021631 deg/s,
      cmd heading: 117.289525 deg,
      new cmd heading: 117.314388 deg.

2025-08-21T06:49:07.593Z,1755758947.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.047522 target range: 23.868299 and range: 24.00 m.
2025-08-21T06:49:07.666Z,1755758947.666 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:07.666Z,1755758947.666 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:07.666Z,1755758947.666 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:07.916Z,1755758947.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.729625
2025-08-21T06:49:08.022Z,1755758948.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T06:49:08.028Z,1755758948.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.868299 m,
      nav range: 22.768394 m,
      bearing: 130.830951 deg,
      approach rate: -0.546144 m/s,
      LOS rate: 0.065691 deg/s,
      cmd heading: 117.314387 deg,
      new cmd heading: 117.399297 deg.

2025-08-21T06:49:08.028Z,1755758948.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.049004 target range: 23.868299 and range: 24.00 m.
2025-08-21T06:49:08.169Z,1755758948.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982596
2025-08-21T06:49:08.401Z,1755758948.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T06:49:08.404Z,1755758948.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.868299 m,
      nav range: 22.556490 m,
      bearing: 130.856637 deg,
      approach rate: -0.556845 m/s,
      LOS rate: 0.068130 deg/s,
      cmd heading: 117.399300 deg,
      new cmd heading: 117.477079 deg.

2025-08-21T06:49:08.405Z,1755758948.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.050362 target range: 23.868299 and range: 24.00 m.
2025-08-21T06:49:08.432Z,1755758948.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244908
2025-08-21T06:49:08.674Z,1755758948.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487029
2025-08-21T06:49:08.873Z,1755758948.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T06:49:08.876Z,1755758948.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.868299 m,
      nav range: 22.313995 m,
      bearing: 130.894411 deg,
      approach rate: -0.513312 m/s,
      LOS rate: 0.080830 deg/s,
      cmd heading: 117.477082 deg,
      new cmd heading: 117.591637 deg.

2025-08-21T06:49:08.877Z,1755758948.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.052361 target range: 23.868299 and range: 24.00 m.
2025-08-21T06:49:08.925Z,1755758948.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738198
2025-08-21T06:49:09.177Z,1755758949.177 [DAT](INFO): DAT read: Rx Time:06:49:07.8095

2025-08-21T06:49:09.178Z,1755758949.178 [DAT](INFO): Rx dataTimestamp_ set to:1755758949.177412
2025-08-21T06:49:09.179Z,1755758949.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992357
2025-08-21T06:49:09.215Z,1755758949.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T06:49:09.217Z,1755758949.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.868299 m,
      nav range: 22.125349 m,
      bearing: 130.925050 deg,
      approach rate: -0.552347 m/s,
      LOS rate: 0.090473 deg/s,
      cmd heading: 117.591638 deg,
      new cmd heading: 117.684337 deg.

2025-08-21T06:49:09.218Z,1755758949.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.053979 target range: 23.868299 and range: 24.00 m.
2025-08-21T06:49:09.428Z,1755758949.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.241624
2025-08-21T06:49:09.638Z,1755758949.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:09.641Z,1755758949.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T06:49:09.661Z,1755758949.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.868299 m,
      nav range: 21.899931 m,
      bearing: 130.962354 deg,
      approach rate: -0.529100 m/s,
      LOS rate: 0.088462 deg/s,
      cmd heading: 117.684337 deg,
      new cmd heading: 117.797402 deg.

2025-08-21T06:49:09.662Z,1755758949.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.055953 target range: 23.868299 and range: 24.00 m.
2025-08-21T06:49:09.688Z,1755758949.688 [DAT](INFO): DAT read: 06:49:07.8095 LVL= 24880, 28977, 31026, 32755, AGC= 62, IDX= 411,-0.29, 1.001,-1.105, 0.532, 0.533, PHS= 0.569,-1.594,-0.045, RAW= 134.0,  11.1, CAL= 133.5,  12.2, ROT=  16.5, -12.2

2025-08-21T06:49:09.689Z,1755758949.689 [DAT](INFO): got valid direction response:
 06:49:07.8095 LVL= 24880, 28977, 31026, 32755, AGC= 62, IDX= 411,-0.29, 1.001,-1.105, 0.532, 0.533, PHS= 0.569,-1.594,-0.045, RAW= 134.0,  11.1, CAL= 133.5,  12.2, ROT=  16.5, -12.2

2025-08-21T06:49:09.690Z,1755758949.690 [DAT](INFO): DAT read: Bearing 295.4,  11.1 (Local)

2025-08-21T06:49:09.690Z,1755758949.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.4,  11.1 (Local)

2025-08-21T06:49:09.692Z,1755758949.692 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m  (Round-trip  29.5 ms) speed  0.6 m/s

2025-08-21T06:49:09.693Z,1755758949.693 [DAT](INFO): DAT read: user:1930>

2025-08-21T06:49:09.693Z,1755758949.693 [DAT](INFO): DAT read: Tx time:06:49:08.9243

2025-08-21T06:49:09.694Z,1755758949.694 [DAT](INFO): Ping request sent.
2025-08-21T06:49:09.694Z,1755758949.694 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:09.694Z,1755758949.694 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:09.695Z,1755758949.695 [DAT](INFO): direction in FSK: [0.937166,0.277601,0.211325]
2025-08-21T06:49:09.695Z,1755758949.695 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:09.696Z,1755758949.696 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:09.699Z,1755758949.699 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:09.699Z,1755758949.699 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:10.070Z,1755758950.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 3.529032 s,
      deltaX: -1.900000 m,
      approachRate: -0.538391 m/s,
      rangeRepo size: 4

2025-08-21T06:49:10.073Z,1755758950.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.979164 m,
      bearing: 133.996268 deg,
      lat: 36.779351 deg,
      lon: -121.859458 deg,
      deltaT: 3.529032 s,
      deltaX: -1.889135 m,
      approachRate: -0.535313 m/s,
      posRepo size: 4

2025-08-21T06:49:10.073Z,1755758950.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T06:49:10.076Z,1755758950.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.979164 m,
      nav range: 21.746773 m,
      bearing: 131.478111 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.088462 deg/s,
      cmd heading: 117.797404 deg,
      new cmd heading: 117.911268 deg.

2025-08-21T06:49:10.077Z,1755758950.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.057940 target range: 21.979164 and range: 22.10 m.
2025-08-21T06:49:10.505Z,1755758950.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T06:49:10.507Z,1755758950.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.979164 m,
      nav range: 21.510826 m,
      bearing: 131.527937 deg,
      approach rate: -0.542619 m/s,
      LOS rate: 0.115844 deg/s,
      cmd heading: 117.911263 deg,
      new cmd heading: 118.062380 deg.

2025-08-21T06:49:10.508Z,1755758950.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.060577 target range: 21.979164 and range: 22.10 m.
2025-08-21T06:49:10.903Z,1755758950.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T06:49:10.906Z,1755758950.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.979164 m,
      nav range: 21.289721 m,
      bearing: 131.572569 deg,
      approach rate: -0.555429 m/s,
      LOS rate: 0.113282 deg/s,
      cmd heading: 118.062374 deg,
      new cmd heading: 118.197660 deg.

2025-08-21T06:49:10.907Z,1755758950.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.062938 target range: 21.979164 and range: 22.10 m.
2025-08-21T06:49:11.277Z,1755758951.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T06:49:11.280Z,1755758951.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.979164 m,
      nav range: 21.093512 m,
      bearing: 131.612961 deg,
      approach rate: -0.524647 m/s,
      LOS rate: 0.109010 deg/s,
      cmd heading: 118.197667 deg,
      new cmd heading: 118.319970 deg.

2025-08-21T06:49:11.280Z,1755758951.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.065073 target range: 21.979164 and range: 22.10 m.
2025-08-21T06:49:11.661Z,1755758951.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:11.666Z,1755758951.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T06:49:11.670Z,1755758951.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.979164 m,
      nav range: 20.880301 m,
      bearing: 131.657905 deg,
      approach rate: -0.548521 m/s,
      LOS rate: 0.116806 deg/s,
      cmd heading: 118.319968 deg,
      new cmd heading: 118.456176 deg.

2025-08-21T06:49:11.672Z,1755758951.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.067450 target range: 21.979164 and range: 22.10 m.
2025-08-21T06:49:11.696Z,1755758951.696 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:11.696Z,1755758951.696 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:11.697Z,1755758951.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:11.948Z,1755758951.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254418
2025-08-21T06:49:12.073Z,1755758952.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T06:49:12.092Z,1755758952.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.979164 m,
      nav range: 20.649643 m,
      bearing: 131.709520 deg,
      approach rate: -0.565235 m/s,
      LOS rate: 0.127899 deg/s,
      cmd heading: 118.456176 deg,
      new cmd heading: 118.612752 deg.

2025-08-21T06:49:12.093Z,1755758952.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.070183 target range: 21.979164 and range: 22.10 m.
2025-08-21T06:49:12.201Z,1755758952.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506784
2025-08-21T06:49:12.450Z,1755758952.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T06:49:12.452Z,1755758952.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758652
2025-08-21T06:49:12.455Z,1755758952.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.979164 m,
      nav range: 20.441143 m,
      bearing: 131.756902 deg,
      approach rate: -0.553341 m/s,
      LOS rate: 0.127030 deg/s,
      cmd heading: 118.612751 deg,
      new cmd heading: 118.756346 deg.

2025-08-21T06:49:12.474Z,1755758952.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.072689 target range: 21.979164 and range: 22.10 m.
2025-08-21T06:49:12.704Z,1755758952.704 [DAT](INFO): DAT read: Rx Time:06:49:11.3554

2025-08-21T06:49:12.705Z,1755758952.705 [DAT](INFO): Rx dataTimestamp_ set to:1755758952.704476
2025-08-21T06:49:12.705Z,1755758952.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011572
2025-08-21T06:49:12.894Z,1755758952.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T06:49:12.897Z,1755758952.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.979164 m,
      nav range: 20.200024 m,
      bearing: 131.802550 deg,
      approach rate: -0.543644 m/s,
      LOS rate: 0.104150 deg/s,
      cmd heading: 118.756349 deg,
      new cmd heading: 118.894928 deg.

2025-08-21T06:49:12.898Z,1755758952.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.075108 target range: 21.979164 and range: 22.10 m.
2025-08-21T06:49:12.956Z,1755758952.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262573
2025-08-21T06:49:13.215Z,1755758953.215 [DAT](INFO): DAT read: 06:49:11.3554 LVL= 30192, 32753, 32754, 32755, AGC= 61, IDX= 417,-0.25,-3.063, 1.060, 2.716, 2.769, PHS= 0.554,-1.663,-0.097, RAW= 133.4,  12.2, CAL= 132.8,  13.3, ROT=  17.2, -13.3

2025-08-21T06:49:13.246Z,1755758953.246 [DAT](INFO): got valid direction response:
 06:49:11.3554 LVL= 30192, 32753, 32754, 32755, AGC= 61, IDX= 417,-0.25,-3.063, 1.060, 2.716, 2.769, PHS= 0.554,-1.663,-0.097, RAW= 133.4,  12.2, CAL= 132.8,  13.3, ROT=  17.2, -13.3

2025-08-21T06:49:13.253Z,1755758953.253 [DAT](INFO): DAT read: Bearing 296.6,  11.6 (Local)

2025-08-21T06:49:13.253Z,1755758953.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.6,  11.6 (Local)

2025-08-21T06:49:13.254Z,1755758953.254 [DAT](INFO): DAT read: Range 11 to 50 : 20.2 m  (Round-trip  27.0 ms) speed  0.4 m/s

2025-08-21T06:49:13.259Z,1755758953.259 [DAT](INFO): DAT read: user:1931>

2025-08-21T06:49:13.260Z,1755758953.260 [DAT](INFO): DAT read: Tx time:06:49:12.4743

2025-08-21T06:49:13.260Z,1755758953.260 [DAT](INFO): Ping request sent.
2025-08-21T06:49:13.261Z,1755758953.261 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:13.261Z,1755758953.261 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:13.262Z,1755758953.262 [DAT](INFO): direction in FSK: [0.929657,0.287777,0.230050]
2025-08-21T06:49:13.262Z,1755758953.262 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:13.262Z,1755758953.262 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:13.290Z,1755758953.290 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:13.290Z,1755758953.290 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:13.414Z,1755758953.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.200001 m,
      deltaT: 3.527111 s,
      deltaX: -1.900000 m,
      approachRate: -0.538684 m/s,
      rangeRepo size: 4

2025-08-21T06:49:13.420Z,1755758953.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.089525 m,
      bearing: 134.597908 deg,
      lat: 36.779346 deg,
      lon: -121.859465 deg,
      deltaT: 3.527111 s,
      deltaX: -1.889639 m,
      approachRate: -0.535747 m/s,
      posRepo size: 4

2025-08-21T06:49:13.420Z,1755758953.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.09 m.
2025-08-21T06:49:13.427Z,1755758953.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.089525 m,
      nav range: 19.909876 m,
      bearing: 134.087520 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.104150 deg/s,
      cmd heading: 118.894933 deg,
      new cmd heading: 119.057169 deg.

2025-08-21T06:49:13.428Z,1755758953.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.077940 target range: 20.089525 and range: 20.20 m.
2025-08-21T06:49:13.746Z,1755758953.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:13.753Z,1755758953.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.09 m.
2025-08-21T06:49:13.755Z,1755758953.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.089525 m,
      nav range: 19.705879 m,
      bearing: 134.150742 deg,
      approach rate: -0.600785 m/s,
      LOS rate: 0.188122 deg/s,
      cmd heading: 119.057164 deg,
      new cmd heading: 119.248793 deg.

2025-08-21T06:49:13.756Z,1755758953.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.081284 target range: 20.089525 and range: 20.20 m.
2025-08-21T06:49:13.964Z,1755758953.964 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:13.964Z,1755758953.964 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:13.964Z,1755758953.964 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:14.196Z,1755758954.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.09 m.
2025-08-21T06:49:14.198Z,1755758954.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.089525 m,
      nav range: 19.462683 m,
      bearing: 134.214046 deg,
      approach rate: -0.549066 m/s,
      LOS rate: 0.144707 deg/s,
      cmd heading: 119.248792 deg,
      new cmd heading: 119.441075 deg.

2025-08-21T06:49:14.203Z,1755758954.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.084640 target range: 20.089525 and range: 20.20 m.
2025-08-21T06:49:14.216Z,1755758954.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.955478
2025-08-21T06:49:14.469Z,1755758954.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207997
2025-08-21T06:49:14.561Z,1755758954.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.09 m.
2025-08-21T06:49:14.566Z,1755758954.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.089525 m,
      nav range: 19.263941 m,
      bearing: 134.266264 deg,
      approach rate: -0.544138 m/s,
      LOS rate: 0.144443 deg/s,
      cmd heading: 119.441075 deg,
      new cmd heading: 119.599344 deg.

2025-08-21T06:49:14.568Z,1755758954.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.087402 target range: 20.089525 and range: 20.20 m.
2025-08-21T06:49:14.720Z,1755758954.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459611
2025-08-21T06:49:14.972Z,1755758954.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711660
2025-08-21T06:49:15.011Z,1755758955.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.09 m.
2025-08-21T06:49:15.014Z,1755758955.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.089525 m,
      nav range: 19.015141 m,
      bearing: 134.322233 deg,
      approach rate: -0.552710 m/s,
      LOS rate: 0.125961 deg/s,
      cmd heading: 119.599344 deg,
      new cmd heading: 119.769447 deg.

2025-08-21T06:49:15.015Z,1755758955.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.090371 target range: 20.089525 and range: 20.20 m.
2025-08-21T06:49:15.225Z,1755758955.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964367
2025-08-21T06:49:15.376Z,1755758955.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.09 m.
2025-08-21T06:49:15.380Z,1755758955.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.089525 m,
      nav range: 18.819206 m,
      bearing: 134.365040 deg,
      approach rate: -0.535985 m/s,
      LOS rate: 0.118320 deg/s,
      cmd heading: 119.769443 deg,
      new cmd heading: 119.899202 deg.

2025-08-21T06:49:15.381Z,1755758955.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.092636 target range: 20.089525 and range: 20.20 m.
2025-08-21T06:49:15.476Z,1755758955.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215750
2025-08-21T06:49:15.728Z,1755758955.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467625
2025-08-21T06:49:15.767Z,1755758955.767 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:15.769Z,1755758955.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.09 m.
2025-08-21T06:49:15.772Z,1755758955.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.089525 m,
      nav range: 18.592245 m,
      bearing: 134.414344 deg,
      approach rate: -0.578067 m/s,
      LOS rate: 0.127110 deg/s,
      cmd heading: 119.899203 deg,
      new cmd heading: 120.048922 deg.

2025-08-21T06:49:15.773Z,1755758955.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.095249 target range: 20.089525 and range: 20.20 m.
2025-08-21T06:49:15.981Z,1755758955.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.720068
2025-08-21T06:49:16.221Z,1755758956.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.09 m.
2025-08-21T06:49:16.225Z,1755758956.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.089525 m,
      nav range: 18.340340 m,
      bearing: 134.449072 deg,
      approach rate: -0.557660 m/s,
      LOS rate: 0.077935 deg/s,
      cmd heading: 120.048921 deg,
      new cmd heading: 120.154535 deg.

2025-08-21T06:49:16.226Z,1755758956.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.097092 target range: 20.089525 and range: 20.20 m.
2025-08-21T06:49:16.232Z,1755758956.232 [DAT](INFO): DAT read: Rx Time:06:49:14.9029

2025-08-21T06:49:16.233Z,1755758956.233 [DAT](INFO): Rx dataTimestamp_ set to:1755758956.232610
2025-08-21T06:49:16.233Z,1755758956.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972862
2025-08-21T06:49:16.484Z,1755758956.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223582
2025-08-21T06:49:16.654Z,1755758956.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.09 m.
2025-08-21T06:49:16.659Z,1755758956.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.089525 m,
      nav range: 18.103743 m,
      bearing: 134.480698 deg,
      approach rate: -0.547460 m/s,
      LOS rate: 0.074136 deg/s,
      cmd heading: 120.154530 deg,
      new cmd heading: 120.250648 deg.

2025-08-21T06:49:16.661Z,1755758956.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.098770 target range: 20.089525 and range: 20.20 m.
2025-08-21T06:49:16.745Z,1755758956.745 [DAT](INFO): DAT read: 06:49:14.9029 LVL= 26656, 26945, 28402, 32755, AGC= 59, IDX= 423,-0.38,-1.156, 2.961,-1.703,-1.654, PHS= 0.600,-1.623,-0.094, RAW= 132.2,  11.3, CAL= 131.8,  12.5, ROT=  18.2, -12.5

2025-08-21T06:49:16.746Z,1755758956.746 [DAT](INFO): got valid direction response:
 06:49:14.9029 LVL= 26656, 26945, 28402, 32755, AGC= 59, IDX= 423,-0.38,-1.156, 2.961,-1.703,-1.654, PHS= 0.600,-1.623,-0.094, RAW= 132.2,  11.3, CAL= 131.8,  12.5, ROT=  18.2, -12.5

2025-08-21T06:49:16.752Z,1755758956.752 [DAT](INFO): DAT read: Bearing 296.2,  12.9 (Local)

2025-08-21T06:49:16.753Z,1755758956.753 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.2,  12.9 (Local)

2025-08-21T06:49:16.754Z,1755758956.754 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m  (Round-trip  24.5 ms) speed  0.5 m/s

2025-08-21T06:49:16.765Z,1755758956.765 [DAT](INFO): DAT read: user:1932>

2025-08-21T06:49:16.766Z,1755758956.766 [DAT](INFO): DAT read: Tx time:06:49:16.0243

2025-08-21T06:49:16.766Z,1755758956.766 [DAT](INFO): Ping request sent.
2025-08-21T06:49:16.766Z,1755758956.766 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:16.771Z,1755758956.771 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:16.773Z,1755758956.773 [DAT](INFO): direction in FSK: [0.927454,0.304931,0.216440]
2025-08-21T06:49:16.773Z,1755758956.773 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:16.773Z,1755758956.773 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:16.780Z,1755758956.780 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:16.781Z,1755758956.781 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:17.044Z,1755758957.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 3.527894 s,
      deltaX: -1.900002 m,
      approachRate: -0.538565 m/s,
      rangeRepo size: 4

2025-08-21T06:49:17.046Z,1755758957.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.200075 m,
      bearing: 136.194573 deg,
      lat: 36.779345 deg,
      lon: -121.859465 deg,
      deltaT: 3.527894 s,
      deltaX: -1.889450 m,
      approachRate: -0.535574 m/s,
      posRepo size: 4

2025-08-21T06:49:17.047Z,1755758957.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T06:49:17.050Z,1755758957.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.200075 m,
      nav range: 17.922569 m,
      bearing: 134.854260 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.074136 deg/s,
      cmd heading: 120.250644 deg,
      new cmd heading: 120.337383 deg.

2025-08-21T06:49:17.052Z,1755758957.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.100284 target range: 18.200075 and range: 18.30 m.
2025-08-21T06:49:17.425Z,1755758957.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T06:49:17.428Z,1755758957.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.200075 m,
      nav range: 17.717203 m,
      bearing: 134.876380 deg,
      approach rate: -0.557725 m/s,
      LOS rate: 0.060770 deg/s,
      cmd heading: 120.337387 deg,
      new cmd heading: 120.404518 deg.

2025-08-21T06:49:17.429Z,1755758957.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.101455 target range: 18.200075 and range: 18.30 m.
2025-08-21T06:49:17.822Z,1755758957.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:17.824Z,1755758957.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T06:49:17.826Z,1755758957.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.200075 m,
      nav range: 17.490870 m,
      bearing: 134.901361 deg,
      approach rate: -0.548427 m/s,
      LOS rate: 0.061313 deg/s,
      cmd heading: 120.404514 deg,
      new cmd heading: 120.480426 deg.

2025-08-21T06:49:17.848Z,1755758957.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.102780 target range: 18.200075 and range: 18.30 m.
2025-08-21T06:49:17.997Z,1755758957.997 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:17.997Z,1755758957.997 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:17.997Z,1755758957.997 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:18.248Z,1755758958.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481959
2025-08-21T06:49:18.279Z,1755758958.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T06:49:18.282Z,1755758958.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.200075 m,
      nav range: 17.253925 m,
      bearing: 134.924187 deg,
      approach rate: -0.544480 m/s,
      LOS rate: 0.053172 deg/s,
      cmd heading: 120.480425 deg,
      new cmd heading: 120.549843 deg.

2025-08-21T06:49:18.283Z,1755758958.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.103992 target range: 18.200075 and range: 18.30 m.
2025-08-21T06:49:18.500Z,1755758958.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733900
2025-08-21T06:49:18.627Z,1755758958.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T06:49:18.633Z,1755758958.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.200075 m,
      nav range: 17.055325 m,
      bearing: 134.942061 deg,
      approach rate: -0.540684 m/s,
      LOS rate: 0.049230 deg/s,
      cmd heading: 120.549847 deg,
      new cmd heading: 120.604096 deg.

2025-08-21T06:49:18.635Z,1755758958.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104939 target range: 18.200075 and range: 18.30 m.
2025-08-21T06:49:18.752Z,1755758958.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985894
2025-08-21T06:49:19.004Z,1755758959.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237935
2025-08-21T06:49:19.049Z,1755758959.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T06:49:19.055Z,1755758959.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.200075 m,
      nav range: 16.838331 m,
      bearing: 134.953539 deg,
      approach rate: -0.512764 m/s,
      LOS rate: 0.027473 deg/s,
      cmd heading: 120.604093 deg,
      new cmd heading: 120.638971 deg.

2025-08-21T06:49:19.060Z,1755758959.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.105547 target range: 18.200075 and range: 18.30 m.
2025-08-21T06:49:19.256Z,1755758959.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489849
2025-08-21T06:49:19.423Z,1755758959.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T06:49:19.426Z,1755758959.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.200075 m,
      nav range: 16.627331 m,
      bearing: 134.963351 deg,
      approach rate: -0.564953 m/s,
      LOS rate: 0.026603 deg/s,
      cmd heading: 120.638968 deg,
      new cmd heading: 120.668775 deg.

2025-08-21T06:49:19.427Z,1755758959.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106067 target range: 18.200075 and range: 18.30 m.
2025-08-21T06:49:19.509Z,1755758959.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742354
2025-08-21T06:49:19.760Z,1755758959.760 [DAT](INFO): DAT read: Rx Time:06:49:18.4501

2025-08-21T06:49:19.761Z,1755758959.761 [DAT](INFO): Rx dataTimestamp_ set to:1755758959.760520
2025-08-21T06:49:19.761Z,1755758959.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995017
2025-08-21T06:49:19.843Z,1755758959.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:19.846Z,1755758959.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T06:49:19.853Z,1755758959.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.200075 m,
      nav range: 16.407677 m,
      bearing: 134.971840 deg,
      approach rate: -0.519771 m/s,
      LOS rate: 0.020356 deg/s,
      cmd heading: 120.668774 deg,
      new cmd heading: 120.694582 deg.

2025-08-21T06:49:19.854Z,1755758959.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.106518 target range: 18.200075 and range: 18.30 m.
2025-08-21T06:49:20.012Z,1755758960.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245903
2025-08-21T06:49:20.240Z,1755758960.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T06:49:20.243Z,1755758960.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.200075 m,
      nav range: 16.184492 m,
      bearing: 134.996797 deg,
      approach rate: -0.565187 m/s,
      LOS rate: 0.064073 deg/s,
      cmd heading: 120.694579 deg,
      new cmd heading: 120.770483 deg.

2025-08-21T06:49:20.244Z,1755758960.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.107843 target range: 18.200075 and range: 18.30 m.
2025-08-21T06:49:20.276Z,1755758960.276 [DAT](INFO): DAT read: 06:49:18.4501 LVL= 26896, 29137, 24722, 32755, AGC= 57, IDX= 411, 0.16, 1.289,-0.794, 0.795, 0.844, PHS= 0.548,-1.592,-0.092, RAW= 133.1,  11.9, CAL= 132.5,  13.0, ROT=  17.5, -13.0

2025-08-21T06:49:20.277Z,1755758960.277 [DAT](INFO): got valid direction response:
 06:49:18.4501 LVL= 26896, 29137, 24722, 32755, AGC= 57, IDX= 411, 0.16, 1.289,-0.794, 0.795, 0.844, PHS= 0.548,-1.592,-0.092, RAW= 133.1,  11.9, CAL= 132.5,  13.0, ROT=  17.5, -13.0

2025-08-21T06:49:20.278Z,1755758960.278 [DAT](INFO): DAT read: Bearing 298.2,  12.3 (Local)

2025-08-21T06:49:20.279Z,1755758960.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.2,  12.3 (Local)

2025-08-21T06:49:20.280Z,1755758960.280 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m  (Round-trip  21.7 ms) speed  0.4 m/s

2025-08-21T06:49:20.281Z,1755758960.281 [DAT](INFO): DAT read: user:1933>

2025-08-21T06:49:20.282Z,1755758960.282 [DAT](INFO): DAT read: Tx time:06:49:19.5743

2025-08-21T06:49:20.282Z,1755758960.282 [DAT](INFO): Ping request sent.
2025-08-21T06:49:20.282Z,1755758960.282 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:20.282Z,1755758960.282 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:20.283Z,1755758960.283 [DAT](INFO): direction in FSK: [0.929273,0.292999,0.224951]
2025-08-21T06:49:20.283Z,1755758960.283 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:20.284Z,1755758960.284 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:20.287Z,1755758960.287 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:20.287Z,1755758960.287 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:20.666Z,1755758960.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 3.533392 s,
      deltaX: -2.099998 m,
      approachRate: -0.594329 m/s,
      rangeRepo size: 4

2025-08-21T06:49:20.693Z,1755758960.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.111612 m,
      bearing: 136.668051 deg,
      lat: 36.779344 deg,
      lon: -121.859466 deg,
      deltaT: 3.533392 s,
      deltaX: -2.088463 m,
      approachRate: -0.591065 m/s,
      posRepo size: 4

2025-08-21T06:49:20.693Z,1755758960.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m.
2025-08-21T06:49:20.700Z,1755758960.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.111612 m,
      nav range: 15.952765 m,
      bearing: 135.496908 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.064073 deg/s,
      cmd heading: 120.770490 deg,
      new cmd heading: 120.852266 deg.

2025-08-21T06:49:20.701Z,1755758960.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.109270 target range: 16.111612 and range: 16.20 m.
2025-08-21T06:49:21.071Z,1755758961.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m.
2025-08-21T06:49:21.078Z,1755758961.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.111612 m,
      nav range: 15.741251 m,
      bearing: 135.533015 deg,
      approach rate: -0.522547 m/s,
      LOS rate: 0.090402 deg/s,
      cmd heading: 120.852261 deg,
      new cmd heading: 120.962038 deg.

2025-08-21T06:49:21.078Z,1755758961.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.111186 target range: 16.111612 and range: 16.20 m.
2025-08-21T06:49:21.441Z,1755758961.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m.
2025-08-21T06:49:21.444Z,1755758961.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.111612 m,
      nav range: 15.528952 m,
      bearing: 135.568568 deg,
      approach rate: -0.573740 m/s,
      LOS rate: 0.097395 deg/s,
      cmd heading: 120.962035 deg,
      new cmd heading: 121.070152 deg.

2025-08-21T06:49:21.445Z,1755758961.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.113073 target range: 16.111612 and range: 16.20 m.
2025-08-21T06:49:21.838Z,1755758961.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m.
2025-08-21T06:49:21.841Z,1755758961.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.111612 m,
      nav range: 15.313330 m,
      bearing: 135.603151 deg,
      approach rate: -0.542926 m/s,
      LOS rate: 0.088305 deg/s,
      cmd heading: 121.070157 deg,
      new cmd heading: 121.175368 deg.

2025-08-21T06:49:21.842Z,1755758961.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.114909 target range: 16.111612 and range: 16.20 m.
2025-08-21T06:49:22.230Z,1755758962.230 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022610364064,35.0, +10.9,   0.,  0
2025-08-21T06:49:22.245Z,1755758962.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:22.247Z,1755758962.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m.
2025-08-21T06:49:22.250Z,1755758962.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.111612 m,
      nav range: 15.090803 m,
      bearing: 135.637974 deg,
      approach rate: -0.544415 m/s,
      LOS rate: 0.086451 deg/s,
      cmd heading: 121.175370 deg,
      new cmd heading: 121.281379 deg.

2025-08-21T06:49:22.251Z,1755758962.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.116759 target range: 16.111612 and range: 16.20 m.
2025-08-21T06:49:22.290Z,1755758962.290 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:22.290Z,1755758962.290 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:22.290Z,1755758962.290 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:22.540Z,1755758962.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258293
2025-08-21T06:49:22.666Z,1755758962.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m.
2025-08-21T06:49:22.669Z,1755758962.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.111612 m,
      nav range: 14.862542 m,
      bearing: 135.673179 deg,
      approach rate: -0.544698 m/s,
      LOS rate: 0.085299 deg/s,
      cmd heading: 121.281374 deg,
      new cmd heading: 121.388611 deg.

2025-08-21T06:49:22.669Z,1755758962.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.118631 target range: 16.111612 and range: 16.20 m.
2025-08-21T06:49:22.792Z,1755758962.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510464
2025-08-21T06:49:23.044Z,1755758963.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762417
2025-08-21T06:49:23.092Z,1755758963.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m.
2025-08-21T06:49:23.094Z,1755758963.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.111612 m,
      nav range: 14.646885 m,
      bearing: 135.741449 deg,
      approach rate: -0.531562 m/s,
      LOS rate: 0.170753 deg/s,
      cmd heading: 121.388608 deg,
      new cmd heading: 121.596433 deg.

2025-08-21T06:49:23.101Z,1755758963.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.122258 target range: 16.111612 and range: 16.20 m.
2025-08-21T06:49:23.296Z,1755758963.296 [DAT](INFO): DAT read: Rx Time:06:49:21.9977

2025-08-21T06:49:23.297Z,1755758963.297 [DAT](INFO): Rx dataTimestamp_ set to:1755758963.296422
2025-08-21T06:49:23.297Z,1755758963.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015354
2025-08-21T06:49:23.473Z,1755758963.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m.
2025-08-21T06:49:23.476Z,1755758963.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.111612 m,
      nav range: 14.433823 m,
      bearing: 135.810908 deg,
      approach rate: -0.530255 m/s,
      LOS rate: 0.175415 deg/s,
      cmd heading: 121.596437 deg,
      new cmd heading: 121.807888 deg.

2025-08-21T06:49:23.477Z,1755758963.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.125949 target range: 16.111612 and range: 16.20 m.
2025-08-21T06:49:23.549Z,1755758963.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266594
2025-08-21T06:49:23.806Z,1755758963.806 [DAT](INFO): DAT read: 06:49:21.9977 LVL= 31424, 32753, 23730, 32755, AGC= 55, IDX= 418,-0.16, 0.939,-1.021, 0.784, 0.694, PHS= 0.347,-1.670, 0.046, RAW= 142.0,  13.5, CAL= 141.4,  14.6, ROT=   8.6, -14.6

2025-08-21T06:49:23.808Z,1755758963.808 [DAT](INFO): got valid direction response:
 06:49:21.9977 LVL= 31424, 32753, 23730, 32755, AGC= 55, IDX= 418,-0.16, 0.939,-1.021, 0.784, 0.694, PHS= 0.347,-1.670, 0.046, RAW= 142.0,  13.5, CAL= 141.4,  14.6, ROT=   8.6, -14.6

2025-08-21T06:49:23.809Z,1755758963.809 [DAT](INFO): DAT read: Bearing 301.4,   3.6 (Local)

2025-08-21T06:49:23.809Z,1755758963.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.4,   3.6 (Local)

2025-08-21T06:49:23.811Z,1755758963.811 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m  (Round-trip  19.3 ms) speed  0.4 m/s

2025-08-21T06:49:23.812Z,1755758963.812 [DAT](INFO): DAT read: user:1934>

2025-08-21T06:49:23.812Z,1755758963.812 [DAT](INFO): DAT read: Tx time:06:49:23.1243

2025-08-21T06:49:23.813Z,1755758963.813 [DAT](INFO): Ping request sent.
2025-08-21T06:49:23.813Z,1755758963.813 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:23.813Z,1755758963.813 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:23.814Z,1755758963.814 [DAT](INFO): direction in FSK: [0.956829,0.144707,0.252069]
2025-08-21T06:49:23.814Z,1755758963.814 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:23.815Z,1755758963.815 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:23.818Z,1755758963.818 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:23.818Z,1755758963.818 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:23.946Z,1755758963.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 3.530064 s,
      deltaX: -1.800001 m,
      approachRate: -0.509906 m/s,
      rangeRepo size: 4

2025-08-21T06:49:23.956Z,1755758963.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.321352 m,
      bearing: 128.900792 deg,
      lat: 36.779344 deg,
      lon: -121.859466 deg,
      deltaT: 3.530064 s,
      deltaX: -1.790260 m,
      approachRate: -0.507147 m/s,
      posRepo size: 4

2025-08-21T06:49:23.957Z,1755758963.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T06:49:23.965Z,1755758963.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.321352 m,
      nav range: 14.191848 m,
      bearing: 135.887834 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.175415 deg/s,
      cmd heading: 121.807886 deg,
      new cmd heading: 122.056203 deg.

2025-08-21T06:49:23.972Z,1755758963.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.130283 target range: 14.321352 and range: 14.40 m.
2025-08-21T06:49:24.410Z,1755758964.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:24.412Z,1755758964.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T06:49:24.415Z,1755758964.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.321352 m,
      nav range: 13.931033 m,
      bearing: 135.990914 deg,
      approach rate: -0.558652 m/s,
      LOS rate: 0.224925 deg/s,
      cmd heading: 122.056204 deg,
      new cmd heading: 122.371229 deg.

2025-08-21T06:49:24.416Z,1755758964.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.135781 target range: 14.321352 and range: 14.40 m.
2025-08-21T06:49:24.556Z,1755758964.556 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:24.556Z,1755758964.556 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:24.556Z,1755758964.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:24.808Z,1755758964.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995514
2025-08-21T06:49:24.819Z,1755758964.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T06:49:24.822Z,1755758964.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.321352 m,
      nav range: 13.710599 m,
      bearing: 136.079543 deg,
      approach rate: -0.541731 m/s,
      LOS rate: 0.221314 deg/s,
      cmd heading: 122.371226 deg,
      new cmd heading: 122.641387 deg.

2025-08-21T06:49:24.823Z,1755758964.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.140496 target range: 14.321352 and range: 14.40 m.
2025-08-21T06:49:25.061Z,1755758965.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248248
2025-08-21T06:49:25.260Z,1755758965.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T06:49:25.263Z,1755758965.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.321352 m,
      nav range: 13.472593 m,
      bearing: 136.176286 deg,
      approach rate: -0.539339 m/s,
      LOS rate: 0.223099 deg/s,
      cmd heading: 122.641388 deg,
      new cmd heading: 122.936740 deg.

2025-08-21T06:49:25.276Z,1755758965.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.145651 target range: 14.321352 and range: 14.40 m.
2025-08-21T06:49:25.313Z,1755758965.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500121
2025-08-21T06:49:25.565Z,1755758965.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752279
2025-08-21T06:49:25.589Z,1755758965.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T06:49:25.609Z,1755758965.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.321352 m,
      nav range: 13.295176 m,
      bearing: 136.247217 deg,
      approach rate: -0.539293 m/s,
      LOS rate: 0.218486 deg/s,
      cmd heading: 122.936739 deg,
      new cmd heading: 123.152371 deg.

2025-08-21T06:49:25.616Z,1755758965.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.149414 target range: 14.321352 and range: 14.40 m.
2025-08-21T06:49:25.816Z,1755758965.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003430
2025-08-21T06:49:26.064Z,1755758966.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T06:49:26.068Z,1755758966.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255590
2025-08-21T06:49:26.071Z,1755758966.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.321352 m,
      nav range: 13.068500 m,
      bearing: 136.339289 deg,
      approach rate: -0.476939 m/s,
      LOS rate: 0.197085 deg/s,
      cmd heading: 123.152368 deg,
      new cmd heading: 123.433372 deg.

2025-08-21T06:49:26.072Z,1755758966.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.154319 target range: 14.321352 and range: 14.40 m.
2025-08-21T06:49:26.321Z,1755758966.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507685
2025-08-21T06:49:26.456Z,1755758966.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:26.458Z,1755758966.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T06:49:26.477Z,1755758966.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.321352 m,
      nav range: 12.827786 m,
      bearing: 136.440203 deg,
      approach rate: -0.611153 m/s,
      LOS rate: 0.261021 deg/s,
      cmd heading: 123.433376 deg,
      new cmd heading: 123.741795 deg.

2025-08-21T06:49:26.478Z,1755758966.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.159702 target range: 14.321352 and range: 14.40 m.
2025-08-21T06:49:26.573Z,1755758966.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760648
2025-08-21T06:49:26.824Z,1755758966.824 [DAT](INFO): DAT read: Rx Time:06:49:25.5453

2025-08-21T06:49:26.825Z,1755758966.825 [DAT](INFO): Rx dataTimestamp_ set to:1755758966.824596
2025-08-21T06:49:26.825Z,1755758966.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012636
2025-08-21T06:49:26.830Z,1755758966.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T06:49:26.833Z,1755758966.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.321352 m,
      nav range: 12.629927 m,
      bearing: 136.523417 deg,
      approach rate: -0.532416 m/s,
      LOS rate: 0.227426 deg/s,
      cmd heading: 123.741800 deg,
      new cmd heading: 123.995350 deg.

2025-08-21T06:49:26.834Z,1755758966.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.164127 target range: 14.321352 and range: 14.40 m.
2025-08-21T06:49:27.076Z,1755758967.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263257
2025-08-21T06:49:27.327Z,1755758967.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T06:49:27.334Z,1755758967.334 [DAT](INFO): DAT read: 06:49:25.5453 LVL= 30672, 32753, 29682, 32755, AGC= 56, IDX= 409, 0.43,-0.742,-2.574,-0.607,-0.844, PHS= 0.204,-1.685, 0.193, RAW= 149.7,  13.6, CAL= 149.8,  15.1, ROT=   0.2, -15.1

2025-08-21T06:49:27.335Z,1755758967.335 [DAT](INFO): got valid direction response:
 06:49:25.5453 LVL= 30672, 32753, 29682, 32755, AGC= 56, IDX= 409, 0.43,-0.742,-2.574,-0.607,-0.844, PHS= 0.204,-1.685, 0.193, RAW= 149.7,  13.6, CAL= 149.8,  15.1, ROT=   0.2, -15.1

2025-08-21T06:49:27.336Z,1755758967.336 [DAT](INFO): DAT read: Bearing 303.6,  -4.5 (Local)

2025-08-21T06:49:27.337Z,1755758967.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.6,  -4.5 (Local)

2025-08-21T06:49:27.338Z,1755758967.338 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m  (Round-trip  16.8 ms) speed  0.4 m/s

2025-08-21T06:49:27.339Z,1755758967.339 [DAT](INFO): DAT read: user:1935>

2025-08-21T06:49:27.339Z,1755758967.339 [DAT](INFO): DAT read: Tx time:06:49:26.6743

2025-08-21T06:49:27.340Z,1755758967.340 [DAT](INFO): Ping request sent.
2025-08-21T06:49:27.340Z,1755758967.340 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:27.340Z,1755758967.340 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:27.341Z,1755758967.341 [DAT](INFO): direction in FSK: [0.965467,0.003370,0.260505]
2025-08-21T06:49:27.341Z,1755758967.341 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:27.342Z,1755758967.342 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:27.346Z,1755758967.346 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:27.346Z,1755758967.346 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:27.354Z,1755758967.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.321352 m,
      nav range: 12.365011 m,
      bearing: 136.633460 deg,
      approach rate: -0.533263 m/s,
      LOS rate: 0.226257 deg/s,
      cmd heading: 123.995350 deg,
      new cmd heading: 124.332547 deg.

2025-08-21T06:49:27.355Z,1755758967.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.170012 target range: 14.321352 and range: 14.40 m.
2025-08-21T06:49:27.662Z,1755758967.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 3.527963 s,
      deltaX: -1.799999 m,
      approachRate: -0.510209 m/s,
      rangeRepo size: 4

2025-08-21T06:49:27.664Z,1755758967.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.531152 m,
      bearing: 121.315294 deg,
      lat: 36.779345 deg,
      lon: -121.859466 deg,
      deltaT: 3.527963 s,
      deltaX: -1.790200 m,
      approachRate: -0.507432 m/s,
      posRepo size: 4

2025-08-21T06:49:27.665Z,1755758967.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:49:27.670Z,1755758967.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.531152 m,
      nav range: 12.108495 m,
      bearing: 136.414730 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.226257 deg/s,
      cmd heading: 124.332543 deg,
      new cmd heading: 124.559507 deg.

2025-08-21T06:49:27.672Z,1755758967.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.173974 target range: 12.531152 and range: 12.60 m.
2025-08-21T06:49:28.093Z,1755758968.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:49:28.102Z,1755758968.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.531152 m,
      nav range: 11.898799 m,
      bearing: 136.499439 deg,
      approach rate: -0.485204 m/s,
      LOS rate: 0.199457 deg/s,
      cmd heading: 124.559510 deg,
      new cmd heading: 124.818113 deg.

2025-08-21T06:49:28.108Z,1755758968.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.178487 target range: 12.531152 and range: 12.60 m.
2025-08-21T06:49:28.600Z,1755758968.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:28.605Z,1755758968.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:49:28.626Z,1755758968.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.531152 m,
      nav range: 11.592857 m,
      bearing: 136.568577 deg,
      approach rate: -0.598661 m/s,
      LOS rate: 0.138859 deg/s,
      cmd heading: 124.818114 deg,
      new cmd heading: 125.031002 deg.

2025-08-21T06:49:28.632Z,1755758968.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.182203 target range: 12.531152 and range: 12.60 m.
2025-08-21T06:49:28.841Z,1755758968.841 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:28.841Z,1755758968.841 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:28.841Z,1755758968.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:29.093Z,1755758969.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752952
2025-08-21T06:49:29.192Z,1755758969.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:49:29.195Z,1755758969.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.531152 m,
      nav range: 11.263239 m,
      bearing: 136.643274 deg,
      approach rate: -0.560760 m/s,
      LOS rate: 0.130797 deg/s,
      cmd heading: 125.030998 deg,
      new cmd heading: 125.261646 deg.

2025-08-21T06:49:29.200Z,1755758969.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.186228 target range: 12.531152 and range: 12.60 m.
2025-08-21T06:49:29.344Z,1755758969.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004255
2025-08-21T06:49:29.521Z,1755758969.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:49:29.524Z,1755758969.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.531152 m,
      nav range: 11.068987 m,
      bearing: 136.685733 deg,
      approach rate: -0.589978 m/s,
      LOS rate: 0.131216 deg/s,
      cmd heading: 125.261640 deg,
      new cmd heading: 125.391249 deg.

2025-08-21T06:49:29.525Z,1755758969.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.188490 target range: 12.531152 and range: 12.60 m.
2025-08-21T06:49:29.599Z,1755758969.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258645
2025-08-21T06:49:29.848Z,1755758969.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508285
2025-08-21T06:49:29.943Z,1755758969.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:49:29.945Z,1755758969.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.531152 m,
      nav range: 10.837029 m,
      bearing: 136.734758 deg,
      approach rate: -0.550625 m/s,
      LOS rate: 0.118868 deg/s,
      cmd heading: 125.391249 deg,
      new cmd heading: 125.541472 deg.

2025-08-21T06:49:29.946Z,1755758969.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.191112 target range: 12.531152 and range: 12.60 m.
2025-08-21T06:49:30.104Z,1755758970.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762951
2025-08-21T06:49:30.352Z,1755758970.352 [DAT](INFO): DAT read: Rx Time:06:49:29.0928

2025-08-21T06:49:30.353Z,1755758970.353 [DAT](INFO): Rx dataTimestamp_ set to:1755758970.352509
2025-08-21T06:49:30.353Z,1755758970.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013433
2025-08-21T06:49:30.370Z,1755758970.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:49:30.377Z,1755758970.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.531152 m,
      nav range: 10.599164 m,
      bearing: 136.758038 deg,
      approach rate: -0.556452 m/s,
      LOS rate: 0.055682 deg/s,
      cmd heading: 125.541472 deg,
      new cmd heading: 125.612880 deg.

2025-08-21T06:49:30.378Z,1755758970.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.192358 target range: 12.531152 and range: 12.60 m.
2025-08-21T06:49:30.605Z,1755758970.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264870
2025-08-21T06:49:30.741Z,1755758970.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:30.743Z,1755758970.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:49:30.746Z,1755758970.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.531152 m,
      nav range: 10.371301 m,
      bearing: 136.776239 deg,
      approach rate: -0.611252 m/s,
      LOS rate: 0.049898 deg/s,
      cmd heading: 125.612875 deg,
      new cmd heading: 125.668678 deg.

2025-08-21T06:49:30.747Z,1755758970.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.193332 target range: 12.531152 and range: 12.60 m.
2025-08-21T06:49:30.865Z,1755758970.865 [DAT](INFO): DAT read: 06:49:29.0928 LVL= 29536, 28961, 29426, 32755, AGC= 54, IDX= 416, 0.30,-2.227, 2.446,-1.830,-2.132, PHS= 0.006,-1.660, 0.257, RAW= 156.9,  15.3, CAL= 157.7,  17.6, ROT= 352.3, -17.6

2025-08-21T06:49:30.866Z,1755758970.866 [DAT](INFO): got valid direction response:
 06:49:29.0928 LVL= 29536, 28961, 29426, 32755, AGC= 54, IDX= 416, 0.30,-2.227, 2.446,-1.830,-2.132, PHS= 0.006,-1.660, 0.257, RAW= 156.9,  15.3, CAL= 157.7,  17.6, ROT= 352.3, -17.6

2025-08-21T06:49:30.867Z,1755758970.867 [DAT](INFO): DAT read: Bearing 308.4, -11.5 (Local)

2025-08-21T06:49:30.867Z,1755758970.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.4, -11.5 (Local)

2025-08-21T06:49:30.869Z,1755758970.869 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m  (Round-trip  14.5 ms) speed  0.4 m/s

2025-08-21T06:49:30.869Z,1755758970.869 [DAT](INFO): DAT read: user:1936>

2025-08-21T06:49:30.870Z,1755758970.870 [DAT](INFO): DAT read: Tx time:06:49:30.2242

2025-08-21T06:49:30.870Z,1755758970.870 [DAT](INFO): Ping request sent.
2025-08-21T06:49:30.870Z,1755758970.870 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:30.871Z,1755758970.871 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:30.872Z,1755758970.872 [DAT](INFO): direction in FSK: [0.944596,-0.127715,0.302370]
2025-08-21T06:49:30.872Z,1755758970.872 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:30.873Z,1755758970.873 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:30.876Z,1755758970.876 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:30.876Z,1755758970.876 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:31.212Z,1755758971.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 3.528615 s,
      deltaX: -1.800000 m,
      approachRate: -0.510115 m/s,
      rangeRepo size: 4

2025-08-21T06:49:31.214Z,1755758971.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.740939 m,
      bearing: 115.064569 deg,
      lat: 36.779356 deg,
      lon: -121.859454 deg,
      deltaT: 3.528615 s,
      deltaX: -1.790213 m,
      approachRate: -0.507341 m/s,
      posRepo size: 4

2025-08-21T06:49:31.215Z,1755758971.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m.
2025-08-21T06:49:31.217Z,1755758971.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.740939 m,
      nav range: 10.122381 m,
      bearing: 127.386497 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.049898 deg/s,
      cmd heading: 125.668678 deg,
      new cmd heading: 125.738780 deg.

2025-08-21T06:49:31.218Z,1755758971.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.194556 target range: 10.740939 and range: 10.80 m.
2025-08-21T06:49:31.568Z,1755758971.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m.
2025-08-21T06:49:31.571Z,1755758971.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.740939 m,
      nav range: 9.931001 m,
      bearing: 127.204153 deg,
      approach rate: -0.535696 m/s,
      LOS rate: -0.520239 deg/s,
      cmd heading: 125.738783 deg,
      new cmd heading: 125.181225 deg.

2025-08-21T06:49:31.572Z,1755758971.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.184824 target range: 10.740939 and range: 10.80 m.
2025-08-21T06:49:31.959Z,1755758971.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m.
2025-08-21T06:49:31.962Z,1755758971.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.740939 m,
      nav range: 9.705869 m,
      bearing: 126.974897 deg,
      approach rate: -0.576530 m/s,
      LOS rate: -0.600706 deg/s,
      cmd heading: 125.181221 deg,
      new cmd heading: 124.477538 deg.

2025-08-21T06:49:31.963Z,1755758971.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.172543 target range: 10.740939 and range: 10.80 m.
2025-08-21T06:49:32.385Z,1755758972.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m.
2025-08-21T06:49:32.388Z,1755758972.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.740939 m,
      nav range: 9.477083 m,
      bearing: 126.680614 deg,
      approach rate: -0.536978 m/s,
      LOS rate: -0.707376 deg/s,
      cmd heading: 124.477534 deg,
      new cmd heading: 123.573453 deg.

2025-08-21T06:49:32.389Z,1755758972.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.156764 target range: 10.740939 and range: 10.80 m.
2025-08-21T06:49:32.765Z,1755758972.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:32.767Z,1755758972.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m.
2025-08-21T06:49:32.770Z,1755758972.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.740939 m,
      nav range: 9.272339 m,
      bearing: 126.400452 deg,
      approach rate: -0.535868 m/s,
      LOS rate: -0.749444 deg/s,
      cmd heading: 123.573449 deg,
      new cmd heading: 122.714471 deg.

2025-08-21T06:49:32.771Z,1755758972.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.141772 target range: 10.740939 and range: 10.80 m.
2025-08-21T06:49:32.804Z,1755758972.804 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:49:32.872Z,1755758972.872 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:32.872Z,1755758972.872 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:32.873Z,1755758972.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:33.127Z,1755758973.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255760
2025-08-21T06:49:33.267Z,1755758973.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m.
2025-08-21T06:49:33.270Z,1755758973.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.740939 m,
      nav range: 9.017397 m,
      bearing: 126.046492 deg,
      approach rate: -0.513722 m/s,
      LOS rate: -0.733410 deg/s,
      cmd heading: 122.714471 deg,
      new cmd heading: 121.622708 deg.

2025-08-21T06:49:33.275Z,1755758973.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.122717 target range: 10.740939 and range: 10.80 m.
2025-08-21T06:49:33.379Z,1755758973.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508979
2025-08-21T06:49:33.632Z,1755758973.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761755
2025-08-21T06:49:33.665Z,1755758973.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m.
2025-08-21T06:49:33.669Z,1755758973.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.740939 m,
      nav range: 8.780462 m,
      bearing: 125.698627 deg,
      approach rate: -0.589492 m/s,
      LOS rate: -0.888836 deg/s,
      cmd heading: 121.622706 deg,
      new cmd heading: 120.551082 deg.

2025-08-21T06:49:33.669Z,1755758973.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.104013 target range: 10.740939 and range: 10.80 m.
2025-08-21T06:49:33.808Z,1755758973.808 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:49:33.884Z,1755758973.884 [DAT](INFO): DAT read: Rx Time:06:49:32.6406

2025-08-21T06:49:33.885Z,1755758973.885 [DAT](INFO): Rx dataTimestamp_ set to:1755758973.884403
2025-08-21T06:49:33.885Z,1755758973.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014780
2025-08-21T06:49:34.036Z,1755758974.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m.
2025-08-21T06:49:34.038Z,1755758974.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.740939 m,
      nav range: 8.578403 m,
      bearing: 125.386367 deg,
      approach rate: -0.545855 m/s,
      LOS rate: -0.863421 deg/s,
      cmd heading: 120.551077 deg,
      new cmd heading: 119.592326 deg.

2025-08-21T06:49:34.039Z,1755758974.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.087280 target range: 10.740939 and range: 10.80 m.
2025-08-21T06:49:34.143Z,1755758974.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271446
2025-08-21T06:49:34.398Z,1755758974.398 [DAT](INFO): DAT read: 06:49:32.6406 LVL= 21872, 21601, 15554, 26787, AGC= 53, IDX= 424, 0.49,-2.226, 3.102,-1.433,-1.634, PHS=-0.491,-1.502, 0.156, RAW= 172.8,  24.2, CAL= 173.5,  35.8, ROT= 336.5, -35.8

2025-08-21T06:49:34.399Z,1755758974.399 [DAT](INFO): got valid direction response:
 06:49:32.6406 LVL= 21872, 21601, 15554, 26787, AGC= 53, IDX= 424, 0.49,-2.226, 3.102,-1.433,-1.634, PHS=-0.491,-1.502, 0.156, RAW= 172.8,  24.2, CAL= 173.5,  35.8, ROT= 336.5, -35.8

2025-08-21T06:49:34.400Z,1755758974.400 [DAT](INFO): DAT read: Bearing 331.9, -20.8 (Local)

2025-08-21T06:49:34.400Z,1755758974.400 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.9, -20.8 (Local)

2025-08-21T06:49:34.402Z,1755758974.402 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m  (Round-trip  12.3 ms) speed  0.4 m/s

2025-08-21T06:49:34.402Z,1755758974.402 [DAT](INFO): DAT read: user:1937>

2025-08-21T06:49:34.403Z,1755758974.403 [DAT](INFO): DAT read: Tx time:06:49:33.7742

2025-08-21T06:49:34.403Z,1755758974.403 [DAT](INFO): Ping request sent.
2025-08-21T06:49:34.404Z,1755758974.404 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:34.404Z,1755758974.404 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:34.405Z,1755758974.405 [DAT](INFO): direction in FSK: [0.743794,-0.323411,0.584958]
2025-08-21T06:49:34.405Z,1755758974.405 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:34.405Z,1755758974.405 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:34.408Z,1755758974.408 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:34.409Z,1755758974.409 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:34.610Z,1755758974.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 3.535223 s,
      deltaX: -1.600000 m,
      approachRate: -0.452588 m/s,
      rangeRepo size: 4

2025-08-21T06:49:34.616Z,1755758974.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.149671 m,
      bearing: 100.137410 deg,
      lat: 36.779366 deg,
      lon: -121.859442 deg,
      deltaT: 3.535223 s,
      deltaX: -1.591269 m,
      approachRate: -0.450118 m/s,
      posRepo size: 4

2025-08-21T06:49:34.617Z,1755758974.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-08-21T06:49:34.617Z,1755758974.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.20 m.
2025-08-21T06:49:34.618Z,1755758974.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-21T06:49:34.624Z,1755758974.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 8.623228 m,
      bearing: 114.858390 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.863421 deg/s,
      cmd heading: 119.592323 deg,
      new cmd heading: 118.105545 deg.

2025-08-21T06:49:34.625Z,1755758974.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.061331 target range: 9.149671 and range: 9.20 m.
2025-08-21T06:49:34.973Z,1755758974.973 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:34.976Z,1755758974.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:34.979Z,1755758974.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 8.418997 m,
      bearing: 114.245415 deg,
      approach rate: -0.557994 m/s,
      LOS rate: -1.715345 deg/s,
      cmd heading: 118.105541 deg,
      new cmd heading: 116.222718 deg.

2025-08-21T06:49:34.980Z,1755758974.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.028469 target range: 9.149671 and range: 9.20 m.
2025-08-21T06:49:35.151Z,1755758975.151 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:35.151Z,1755758975.151 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:35.152Z,1755758975.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:35.400Z,1755758975.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996702
2025-08-21T06:49:35.404Z,1755758975.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:35.406Z,1755758975.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 8.206248 m,
      bearing: 113.585566 deg,
      approach rate: -0.497064 m/s,
      LOS rate: -1.581599 deg/s,
      cmd heading: 116.222717 deg,
      new cmd heading: 114.192747 deg.

2025-08-21T06:49:35.408Z,1755758975.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.993039 target range: 9.149671 and range: 9.20 m.
2025-08-21T06:49:35.656Z,1755758975.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251950
2025-08-21T06:49:35.818Z,1755758975.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:35.820Z,1755758975.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 8.007399 m,
      bearing: 112.933727 deg,
      approach rate: -0.497840 m/s,
      LOS rate: -1.672434 deg/s,
      cmd heading: 114.192744 deg,
      new cmd heading: 112.189524 deg.

2025-08-21T06:49:35.821Z,1755758975.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.958077 target range: 9.149671 and range: 9.20 m.
2025-08-21T06:49:35.904Z,1755758975.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500684
2025-08-21T06:49:36.161Z,1755758976.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756298
2025-08-21T06:49:36.320Z,1755758976.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:36.322Z,1755758976.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 7.750600 m,
      bearing: 112.093531 deg,
      approach rate: -0.497704 m/s,
      LOS rate: -1.682283 deg/s,
      cmd heading: 112.189525 deg,
      new cmd heading: 109.587307 deg.

2025-08-21T06:49:36.340Z,1755758976.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.912659 target range: 9.149671 and range: 9.20 m.
2025-08-21T06:49:36.408Z,1755758976.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004655
2025-08-21T06:49:36.660Z,1755758976.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256617
2025-08-21T06:49:36.694Z,1755758976.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:36.697Z,1755758976.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 7.564856 m,
      bearing: 111.451568 deg,
      approach rate: -0.495534 m/s,
      LOS rate: -1.754664 deg/s,
      cmd heading: 109.587305 deg,
      new cmd heading: 107.614950 deg.

2025-08-21T06:49:36.698Z,1755758976.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.878235 target range: 9.149671 and range: 9.20 m.
2025-08-21T06:49:36.912Z,1755758976.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508579
2025-08-21T06:49:37.111Z,1755758977.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:37.114Z,1755758977.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:37.116Z,1755758977.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 7.357731 m,
      bearing: 110.703033 deg,
      approach rate: -0.493469 m/s,
      LOS rate: -1.833515 deg/s,
      cmd heading: 107.614951 deg,
      new cmd heading: 105.307444 deg.

2025-08-21T06:49:37.117Z,1755758977.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.837962 target range: 9.149671 and range: 9.20 m.
2025-08-21T06:49:37.167Z,1755758977.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763213
2025-08-21T06:49:37.416Z,1755758977.416 [DAT](INFO): DAT read: Rx Time:06:49:36.1880

2025-08-21T06:49:37.417Z,1755758977.417 [DAT](INFO): Rx dataTimestamp_ set to:1755758977.416639
2025-08-21T06:49:37.417Z,1755758977.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013890
2025-08-21T06:49:37.526Z,1755758977.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:37.529Z,1755758977.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 7.155512 m,
      bearing: 109.983085 deg,
      approach rate: -0.490492 m/s,
      LOS rate: -1.795571 deg/s,
      cmd heading: 105.307447 deg,
      new cmd heading: 103.087734 deg.

2025-08-21T06:49:37.530Z,1755758977.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.799220 target range: 9.149671 and range: 9.20 m.
2025-08-21T06:49:37.668Z,1755758977.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264571
2025-08-21T06:49:37.926Z,1755758977.926 [DAT](INFO): DAT read: 06:49:36.1880 LVL= 19824, 21425, 21746, 25075, AGC= 48, IDX= 416, 0.08, 2.654, 1.015,-2.825, 2.984, PHS=-0.228,-1.924, 0.430, RAW= 165.7,  16.1, CAL= 166.5,  19.8, ROT= 343.5, -19.8

2025-08-21T06:49:37.927Z,1755758977.927 [DAT](INFO): got valid direction response:
 06:49:36.1880 LVL= 19824, 21425, 21746, 25075, AGC= 48, IDX= 416, 0.08, 2.654, 1.015,-2.825, 2.984, PHS=-0.228,-1.924, 0.430, RAW= 165.7,  16.1, CAL= 166.5,  19.8, ROT= 343.5, -19.8

2025-08-21T06:49:37.928Z,1755758977.928 [DAT](INFO): DAT read: Bearing 312.4, -19.6 (Local)

2025-08-21T06:49:37.929Z,1755758977.929 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.4, -19.6 (Local)

2025-08-21T06:49:37.930Z,1755758977.930 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m  (Round-trip  9.7 ms) speed  0.3 m/s

2025-08-21T06:49:37.931Z,1755758977.931 [DAT](INFO): DAT read: user:1938>

2025-08-21T06:49:37.932Z,1755758977.932 [DAT](INFO): DAT read: Tx time:06:49:37.2742

2025-08-21T06:49:37.932Z,1755758977.932 [DAT](INFO): Ping request sent.
2025-08-21T06:49:37.932Z,1755758977.932 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:37.932Z,1755758977.932 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:37.933Z,1755758977.933 [DAT](INFO): direction in FSK: [0.902135,-0.267225,0.338738]
2025-08-21T06:49:37.934Z,1755758977.934 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:37.934Z,1755758977.934 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:37.937Z,1755758977.937 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:37.937Z,1755758977.937 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:38.015Z,1755758978.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 3.528147 s,
      deltaX: -2.000000 m,
      approachRate: -0.566870 m/s,
      rangeRepo size: 4

2025-08-21T06:49:38.017Z,1755758978.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.160592 m,
      bearing: 107.450024 deg,
      lat: 36.779368 deg,
      lon: -121.859442 deg,
      deltaT: 3.528147 s,
      deltaX: -1.989079 m,
      approachRate: -0.563774 m/s,
      posRepo size: 4

2025-08-21T06:49:38.018Z,1755758978.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.16 m. 9.15 m.
2025-08-21T06:49:38.025Z,1755758978.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 6.943924 m,
      bearing: 109.196787 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.863421 deg/s,
      cmd heading: 103.087731 deg,
      new cmd heading: 101.842639 deg.

2025-08-21T06:49:38.026Z,1755758978.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.777489 target range: 9.149671 and range: 7.20 m.
2025-08-21T06:49:38.406Z,1755758978.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:38.416Z,1755758978.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 6.731111 m,
      bearing: 108.394508 deg,
      approach rate: -0.533716 m/s,
      LOS rate: -2.075591 deg/s,
      cmd heading: 101.842642 deg,
      new cmd heading: 99.361344 deg.

2025-08-21T06:49:38.417Z,1755758978.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.734183 target range: 9.149671 and range: 7.20 m.
2025-08-21T06:49:38.736Z,1755758978.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:38.738Z,1755758978.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 6.560308 m,
      bearing: 107.726092 deg,
      approach rate: -0.517853 m/s,
      LOS rate: -2.079263 deg/s,
      cmd heading: 99.361344 deg,
      new cmd heading: 97.304817 deg.

2025-08-21T06:49:38.739Z,1755758978.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.698289 target range: 9.149671 and range: 7.20 m.
2025-08-21T06:49:39.315Z,1755758979.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:39.321Z,1755758979.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:39.328Z,1755758979.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 6.271438 m,
      bearing: 106.553986 deg,
      approach rate: -0.492873 m/s,
      LOS rate: -2.091833 deg/s,
      cmd heading: 97.304815 deg,
      new cmd heading: 93.631828 deg.

2025-08-21T06:49:39.329Z,1755758979.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634184 target range: 9.149671 and range: 7.20 m.
2025-08-21T06:49:39.432Z,1755758979.432 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:39.432Z,1755758979.432 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:39.433Z,1755758979.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:39.684Z,1755758979.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752027
2025-08-21T06:49:39.708Z,1755758979.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:39.710Z,1755758979.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 6.069322 m,
      bearing: 105.713233 deg,
      approach rate: -0.528657 m/s,
      LOS rate: -2.272228 deg/s,
      cmd heading: 93.631826 deg,
      new cmd heading: 91.027460 deg.

2025-08-21T06:49:39.715Z,1755758979.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.588729 target range: 9.149671 and range: 7.20 m.
2025-08-21T06:49:39.937Z,1755758979.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004474
2025-08-21T06:49:40.133Z,1755758980.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:40.140Z,1755758980.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.857352 m,
      bearing: 104.762377 deg,
      approach rate: -0.494102 m/s,
      LOS rate: -2.296551 deg/s,
      cmd heading: 91.027461 deg,
      new cmd heading: 88.074417 deg.

2025-08-21T06:49:40.141Z,1755758980.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537189 target range: 9.149671 and range: 7.20 m.
2025-08-21T06:49:40.192Z,1755758980.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259555
2025-08-21T06:49:40.441Z,1755758980.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508890
2025-08-21T06:49:40.598Z,1755758980.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:40.617Z,1755758980.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.618476 m,
      bearing: 103.677710 deg,
      approach rate: -0.513512 m/s,
      LOS rate: -2.430701 deg/s,
      cmd heading: 88.074415 deg,
      new cmd heading: 84.686222 deg.

2025-08-21T06:49:40.618Z,1755758980.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478053 target range: 9.149671 and range: 7.20 m.
2025-08-21T06:49:40.692Z,1755758980.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760299
2025-08-21T06:49:40.937Z,1755758980.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:40.940Z,1755758980.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.448297 m,
      bearing: 102.868531 deg,
      approach rate: -0.501656 m/s,
      LOS rate: -2.459735 deg/s,
      cmd heading: 84.686225 deg,
      new cmd heading: 82.184538 deg.

2025-08-21T06:49:40.941Z,1755758980.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434391 target range: 9.149671 and range: 7.20 m.
2025-08-21T06:49:40.945Z,1755758980.945 [DAT](INFO): DAT read: Rx Time:06:49:39.6865

2025-08-21T06:49:40.945Z,1755758980.945 [DAT](INFO): Rx dataTimestamp_ set to:1755758980.944835
2025-08-21T06:49:40.946Z,1755758980.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013543
2025-08-21T06:49:41.196Z,1755758981.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264150
2025-08-21T06:49:41.421Z,1755758981.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:41.423Z,1755758981.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:41.426Z,1755758981.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.212629 m,
      bearing: 101.694954 deg,
      approach rate: -0.485060 m/s,
      LOS rate: -2.524528 deg/s,
      cmd heading: 82.184538 deg,
      new cmd heading: 78.509936 deg.

2025-08-21T06:49:41.427Z,1755758981.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370257 target range: 9.149671 and range: 7.20 m.
2025-08-21T06:49:41.454Z,1755758981.454 [DAT](INFO): DAT read: 06:49:39.6865 LVL= 27056, 25793, 23826, 32755, AGC= 47, IDX= 430, 0.06, 1.415, 0.199, 2.637, 2.178, PHS=-0.662,-1.934, 0.415, RAW= 177.2,  20.7, CAL= 177.4,  29.5, ROT= 332.6, -29.5

2025-08-21T06:49:41.455Z,1755758981.455 [DAT](INFO): got valid direction response:
 06:49:39.6865 LVL= 27056, 25793, 23826, 32755, AGC= 47, IDX= 430, 0.06, 1.415, 0.199, 2.637, 2.178, PHS=-0.662,-1.934, 0.415, RAW= 177.2,  20.7, CAL= 177.4,  29.5, ROT= 332.6, -29.5

2025-08-21T06:49:41.456Z,1755758981.456 [DAT](INFO): DAT read: Bearing 317.8, -28.6 (Local)

2025-08-21T06:49:41.456Z,1755758981.456 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.8, -28.6 (Local)

2025-08-21T06:49:41.458Z,1755758981.458 [DAT](INFO): DAT read: Range 11 to 50 : 6.1 m  (Round-trip  8.2 ms) speed  0.3 m/s

2025-08-21T06:49:41.459Z,1755758981.459 [DAT](INFO): DAT read: user:1939>

2025-08-21T06:49:41.459Z,1755758981.459 [DAT](INFO): DAT read: Tx time:06:49:40.7742

2025-08-21T06:49:41.460Z,1755758981.460 [DAT](INFO): Ping request sent.
2025-08-21T06:49:41.460Z,1755758981.460 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:41.460Z,1755758981.460 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:41.461Z,1755758981.461 [DAT](INFO): direction in FSK: [0.772715,-0.400538,0.492424]
2025-08-21T06:49:41.461Z,1755758981.461 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:41.462Z,1755758981.462 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:41.469Z,1755758981.469 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:41.469Z,1755758981.469 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:41.773Z,1755758981.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.100000 m,
      deltaT: 3.527927 s,
      deltaX: -1.100000 m,
      approachRate: -0.311798 m/s,
      rangeRepo size: 4

2025-08-21T06:49:41.780Z,1755758981.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.066581 m,
      bearing: 92.045874 deg,
      lat: 36.779371 deg,
      lon: -121.859442 deg,
      deltaT: 7.056074 s,
      deltaX: -3.083089 m,
      approachRate: -0.436941 m/s,
      posRepo size: 4

2025-08-21T06:49:41.781Z,1755758981.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.07 m. 9.15 m.
2025-08-21T06:49:41.790Z,1755758981.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.050407 m,
      bearing: 100.847103 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.863421 deg/s,
      cmd heading: 78.509937 deg,
      new cmd heading: 77.603221 deg.

2025-08-21T06:49:41.795Z,1755758981.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354432 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:49:42.162Z,1755758982.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:42.166Z,1755758982.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 4.856503 m,
      bearing: 99.789013 deg,
      approach rate: -0.498696 m/s,
      LOS rate: -2.829747 deg/s,
      cmd heading: 77.603223 deg,
      new cmd heading: 74.306046 deg.

2025-08-21T06:49:42.168Z,1755758982.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.296885 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:49:42.606Z,1755758982.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:42.613Z,1755758982.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 4.646165 m,
      bearing: 98.575745 deg,
      approach rate: -0.473335 m/s,
      LOS rate: -2.853676 deg/s,
      cmd heading: 74.306045 deg,
      new cmd heading: 70.507322 deg.

2025-08-21T06:49:42.614Z,1755758982.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.230585 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:49:42.982Z,1755758982.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:42.989Z,1755758982.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 4.467107 m,
      bearing: 97.482726 deg,
      approach rate: -0.476225 m/s,
      LOS rate: -3.023352 deg/s,
      cmd heading: 70.507326 deg,
      new cmd heading: 67.101057 deg.

2025-08-21T06:49:42.990Z,1755758982.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.171134 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:49:43.395Z,1755758983.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:43.397Z,1755758983.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 4.268996 m,
      bearing: 96.152595 deg,
      approach rate: -0.480402 m/s,
      LOS rate: -3.374832 deg/s,
      cmd heading: 67.101056 deg,
      new cmd heading: 62.933223 deg.

2025-08-21T06:49:43.398Z,1755758983.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.098392 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:49:43.789Z,1755758983.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:43.792Z,1755758983.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:43.794Z,1755758983.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 4.084433 m,
      bearing: 94.780380 deg,
      approach rate: -0.464937 m/s,
      LOS rate: -3.612631 deg/s,
      cmd heading: 62.933220 deg,
      new cmd heading: 58.639025 deg.

2025-08-21T06:49:43.795Z,1755758983.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.023444 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:49:43.968Z,1755758983.968 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:43.968Z,1755758983.968 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:43.969Z,1755758983.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:44.191Z,1755758984.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:44.193Z,1755758984.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.896403 m,
      bearing: 93.389037 deg,
      approach rate: -0.471059 m/s,
      LOS rate: -3.653489 deg/s,
      cmd heading: 58.639025 deg,
      new cmd heading: 54.272474 deg.

2025-08-21T06:49:44.194Z,1755758984.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.947233 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:49:44.220Z,1755758984.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760592
2025-08-21T06:49:44.472Z,1755758984.472 [DAT](INFO): DAT read: Rx Time:06:49:43.1847

2025-08-21T06:49:44.473Z,1755758984.473 [DAT](INFO): Rx dataTimestamp_ set to:1755758984.472455
2025-08-21T06:49:44.473Z,1755758984.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013529
2025-08-21T06:49:44.620Z,1755758984.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:44.622Z,1755758984.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.714602 m,
      bearing: 91.829161 deg,
      approach rate: -0.423582 m/s,
      LOS rate: -3.811776 deg/s,
      cmd heading: 54.272475 deg,
      new cmd heading: 49.376372 deg.

2025-08-21T06:49:44.624Z,1755758984.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.861780 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:49:44.724Z,1755758984.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264683
2025-08-21T06:49:44.977Z,1755758984.977 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m  (Round-trip  6.4 ms) speed  0.2 m/s

2025-08-21T06:49:44.978Z,1755758984.978 [DAT](INFO): DAT read: user:1940>

2025-08-21T06:49:44.979Z,1755758984.979 [DAT](INFO): DAT read: Tx time:06:49:44.2742

2025-08-21T06:49:44.979Z,1755758984.979 [DAT](INFO): Ping request sent.
2025-08-21T06:49:44.979Z,1755758984.979 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:44.980Z,1755758984.980 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T06:49:44.980Z,1755758984.980 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:44.980Z,1755758984.980 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:45.034Z,1755758985.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 3.528077 s,
      deltaX: -1.300000 m,
      approachRate: -0.368473 m/s,
      rangeRepo size: 4

2025-08-21T06:49:45.039Z,1755758985.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:45.042Z,1755758985.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.548375 m,
      bearing: 90.294042 deg,
      approach rate: -0.401609 m/s,
      LOS rate: -3.882187 deg/s,
      cmd heading: 49.376373 deg,
      new cmd heading: 44.567175 deg.

2025-08-21T06:49:45.043Z,1755758985.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.777844 target range: 9.149671 and range: 4.80 m.
2025-08-21T06:49:45.414Z,1755758985.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:45.417Z,1755758985.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.389912 m,
      bearing: 88.706181 deg,
      approach rate: -0.416839 m/s,
      LOS rate: -4.371591 deg/s,
      cmd heading: 44.567176 deg,
      new cmd heading: 39.594082 deg.

2025-08-21T06:49:45.418Z,1755758985.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.691047 target range: 9.149671 and range: 4.80 m.
2025-08-21T06:49:45.790Z,1755758985.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:45.793Z,1755758985.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.241781 m,
      bearing: 87.109287 deg,
      approach rate: -0.393880 m/s,
      LOS rate: -4.439581 deg/s,
      cmd heading: 39.594081 deg,
      new cmd heading: 34.597843 deg.

2025-08-21T06:49:45.794Z,1755758985.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.603846 target range: 9.149671 and range: 4.80 m.
2025-08-21T06:49:46.196Z,1755758986.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:46.198Z,1755758986.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:46.225Z,1755758986.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.082592 m,
      bearing: 85.251897 deg,
      approach rate: -0.389833 m/s,
      LOS rate: -4.782555 deg/s,
      cmd heading: 34.597845 deg,
      new cmd heading: 28.759242 deg.

2025-08-21T06:49:46.226Z,1755758986.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501943 target range: 9.149671 and range: 4.80 m.
2025-08-21T06:49:46.236Z,1755758986.236 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:46.236Z,1755758986.236 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:46.237Z,1755758986.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:46.488Z,1755758986.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509009
2025-08-21T06:49:46.639Z,1755758986.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:46.646Z,1755758986.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.922075 m,
      bearing: 83.208944 deg,
      approach rate: -0.364489 m/s,
      LOS rate: -4.892746 deg/s,
      cmd heading: 28.759242 deg,
      new cmd heading: 22.322297 deg.

2025-08-21T06:49:46.646Z,1755758986.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.389598 target range: 9.149671 and range: 4.80 m.
2025-08-21T06:49:46.740Z,1755758986.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761185
2025-08-21T06:49:46.992Z,1755758986.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013190
2025-08-21T06:49:47.023Z,1755758987.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:47.026Z,1755758987.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.774015 m,
      bearing: 81.061099 deg,
      approach rate: -0.385597 m/s,
      LOS rate: -5.890888 deg/s,
      cmd heading: 22.322298 deg,
      new cmd heading: 15.567901 deg.

2025-08-21T06:49:47.027Z,1755758987.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.271711 target range: 9.149671 and range: 4.80 m.
2025-08-21T06:49:47.245Z,1755758987.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265354
2025-08-21T06:49:47.430Z,1755758987.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:47.449Z,1755758987.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.622211 m,
      bearing: 78.781855 deg,
      approach rate: -0.372923 m/s,
      LOS rate: -5.921787 deg/s,
      cmd heading: 15.567902 deg,
      new cmd heading: 8.374265 deg.

2025-08-21T06:49:47.450Z,1755758987.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146159 target range: 9.149671 and range: 4.80 m.
2025-08-21T06:49:47.496Z,1755758987.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517183
2025-08-21T06:49:47.748Z,1755758987.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769063
2025-08-21T06:49:47.809Z,1755758987.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:47.812Z,1755758987.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.483309 m,
      bearing: 76.460344 deg,
      approach rate: -0.366537 m/s,
      LOS rate: -6.466938 deg/s,
      cmd heading: 8.374265 deg,
      new cmd heading: 1.062148 deg.

2025-08-21T06:49:47.812Z,1755758987.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018538 target range: 9.149671 and range: 4.80 m.
2025-08-21T06:49:48.000Z,1755758988.000 [DAT](INFO): DAT read: Rx Time:06:49:46.6834

2025-08-21T06:49:48.001Z,1755758988.001 [DAT](INFO): Rx dataTimestamp_ set to:1755758988.000453
2025-08-21T06:49:48.001Z,1755758988.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022052
2025-08-21T06:49:48.210Z,1755758988.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:48.213Z,1755758988.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:48.232Z,1755758988.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.338805 m,
      bearing: 73.749107 deg,
      approach rate: -0.357516 m/s,
      LOS rate: -7.119617 deg/s,
      cmd heading: 1.062148 deg,
      new cmd heading: 352.493570 deg.

2025-08-21T06:49:48.233Z,1755758988.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.152174 target range: 9.149671 and range: 4.80 m.
2025-08-21T06:49:48.252Z,1755758988.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272941
2025-08-21T06:49:48.513Z,1755758988.513 [DAT](INFO): DAT read: 06:49:46.6833 LVL= 29984, 24001, 18274, 32755, AGC= 49, IDX= 432, 0.32,-0.929,-1.399,-0.221, 0.532, PHS=-1.358,-1.885,-0.797, RAW= 181.0,  56.6, CAL= 180.8,  63.6, ROT= 329.2, -63.6

2025-08-21T06:49:48.514Z,1755758988.514 [DAT](INFO): got valid direction response:
 06:49:46.6833 LVL= 29984, 24001, 18274, 32755, AGC= 49, IDX= 432, 0.32,-0.929,-1.399,-0.221, 0.532, PHS=-1.358,-1.885,-0.797, RAW= 181.0,  56.6, CAL= 180.8,  63.6, ROT= 329.2, -63.6

2025-08-21T06:49:48.516Z,1755758988.516 [DAT](INFO): DAT read: Bearing 337.8, -16.4 (Local)

2025-08-21T06:49:48.516Z,1755758988.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.8, -16.4 (Local)

2025-08-21T06:49:48.518Z,1755758988.518 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m  (Round-trip  5.1 ms) speed  0.0 m/s

2025-08-21T06:49:48.519Z,1755758988.519 [DAT](INFO): DAT read: user:1941>

2025-08-21T06:49:48.520Z,1755758988.520 [DAT](INFO): DAT read: Tx time:06:49:47.7741

2025-08-21T06:49:48.520Z,1755758988.520 [DAT](INFO): Ping request sent.
2025-08-21T06:49:48.520Z,1755758988.520 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:48.521Z,1755758988.521 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:48.522Z,1755758988.522 [DAT](INFO): direction in FSK: [0.381924,-0.227672,0.895712]
2025-08-21T06:49:48.522Z,1755758988.522 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:48.522Z,1755758988.522 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:48.526Z,1755758988.526 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:48.526Z,1755758988.526 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:48.793Z,1755758988.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 3.527919 s,
      deltaX: -1.000000 m,
      approachRate: -0.283453 m/s,
      rangeRepo size: 4

2025-08-21T06:49:48.799Z,1755758988.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.779159 m,
      bearing: 76.730738 deg,
      lat: 36.779371 deg,
      lon: -121.859442 deg,
      deltaT: 14.112070 s,
      deltaX: -5.370511 m,
      approachRate: -0.380562 m/s,
      posRepo size: 4

2025-08-21T06:49:48.800Z,1755758988.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.15 m.
2025-08-21T06:49:48.803Z,1755758988.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.141378 m,
      bearing: 69.505698 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.863421 deg/s,
      cmd heading: 352.493577 deg,
      new cmd heading: 350.992122 deg.

2025-08-21T06:49:48.808Z,1755758988.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.125968 target range: 9.149671 and range: 3.80 m.
2025-08-21T06:49:49.261Z,1755758989.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:49.264Z,1755758989.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 1.979103 m,
      bearing: 65.230787 deg,
      approach rate: -0.347682 m/s,
      LOS rate: -9.900971 deg/s,
      cmd heading: 350.992111 deg,
      new cmd heading: 337.390116 deg.

2025-08-21T06:49:49.269Z,1755758989.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.888568 target range: 9.149671 and range: 3.80 m.
2025-08-21T06:49:49.721Z,1755758989.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:49.724Z,1755758989.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 1.834462 m,
      bearing: 60.812591 deg,
      approach rate: -0.313157 m/s,
      LOS rate: -10.309675 deg/s,
      cmd heading: 337.390117 deg,
      new cmd heading: 323.390064 deg.

2025-08-21T06:49:49.725Z,1755758989.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.644221 target range: 9.149671 and range: 3.80 m.
2025-08-21T06:49:50.102Z,1755758990.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:50.104Z,1755758990.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.521828 deg/s. Setting heading cmd to target acoustic bearing of 100.137410 deg.
2025-08-21T06:49:50.104Z,1755758990.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747728 target range: 9.149671 and range: 3.80 m.
2025-08-21T06:49:50.537Z,1755758990.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:50.542Z,1755758990.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:50.545Z,1755758990.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.601047 deg/s. Setting heading cmd to target acoustic bearing of 100.137410 deg.
2025-08-21T06:49:50.546Z,1755758990.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747728 target range: 9.149671 and range: 3.80 m.
2025-08-21T06:49:50.773Z,1755758990.773 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:50.773Z,1755758990.773 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:50.773Z,1755758990.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:50.912Z,1755758990.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:50.913Z,1755758990.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.347134 deg/s. Setting heading cmd to target acoustic bearing of 100.137410 deg.
2025-08-21T06:49:50.914Z,1755758990.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747728 target range: 9.149671 and range: 3.80 m.
2025-08-21T06:49:51.025Z,1755758991.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504097
2025-08-21T06:49:51.276Z,1755758991.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755875
2025-08-21T06:49:51.314Z,1755758991.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:51.315Z,1755758991.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.041701 deg/s. Setting heading cmd to target acoustic bearing of 100.137410 deg.
2025-08-21T06:49:51.316Z,1755758991.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747728 target range: 9.149671 and range: 3.80 m.
2025-08-21T06:49:51.530Z,1755758991.530 [DAT](INFO): DAT read: Rx Time:06:49:50.1830

2025-08-21T06:49:51.531Z,1755758991.531 [DAT](INFO): Rx dataTimestamp_ set to:1755758991.530332
2025-08-21T06:49:51.533Z,1755758991.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011752
2025-08-21T06:49:51.734Z,1755758991.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:51.735Z,1755758991.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.723116 deg/s. Setting heading cmd to target acoustic bearing of 100.137410 deg.
2025-08-21T06:49:51.736Z,1755758991.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747728 target range: 9.149671 and range: 3.80 m.
2025-08-21T06:49:51.780Z,1755758991.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259989
2025-08-21T06:49:52.042Z,1755758992.042 [DAT](INFO): DAT read: 06:49:50.1830 LVL= 32752, 30193, 32754, 32755, AGC= 51, IDX= 444, 0.32,-0.128, 1.130, 1.901, 2.380, PHS=-2.407,-1.205,-0.524, RAW= 249.0,  41.5, CAL= 251.8,  49.1, ROT= 258.2, -49.1

2025-08-21T06:49:52.044Z,1755758992.044 [DAT](INFO): got valid direction response:
 06:49:50.1830 LVL= 32752, 30193, 32754, 32755, AGC= 51, IDX= 444, 0.32,-0.128, 1.130, 1.901, 2.380, PHS=-2.407,-1.205,-0.524, RAW= 249.0,  41.5, CAL= 251.8,  49.1, ROT= 258.2, -49.1

2025-08-21T06:49:52.046Z,1755758992.046 [DAT](INFO): DAT read: Bearing   6.1, -41.4 (Local)

2025-08-21T06:49:52.046Z,1755758992.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing   6.1, -41.4 (Local)

2025-08-21T06:49:52.049Z,1755758992.049 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m  (Round-trip  4.7 ms) speed  0.0 m/s

2025-08-21T06:49:52.051Z,1755758992.051 [DAT](INFO): DAT read: user:1942>

2025-08-21T06:49:52.053Z,1755758992.053 [DAT](INFO): DAT read: Tx time:06:49:51.2741

2025-08-21T06:49:52.054Z,1755758992.054 [DAT](INFO): Ping request sent.
2025-08-21T06:49:52.054Z,1755758992.054 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:52.055Z,1755758992.055 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:52.056Z,1755758992.056 [DAT](INFO): direction in FSK: [-0.133892,-0.640904,0.755853]
2025-08-21T06:49:52.057Z,1755758992.057 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:52.058Z,1755758992.058 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:52.089Z,1755758992.089 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:52.089Z,1755758992.089 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:52.206Z,1755758992.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.500000 m,
      deltaT: 3.528656 s,
      deltaX: -0.300000 m,
      approachRate: -0.085018 m/s,
      rangeRepo size: 4

2025-08-21T06:49:52.213Z,1755758992.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.480825 m,
      bearing: 356.689316 deg,
      lat: 36.779373 deg,
      lon: -121.859442 deg,
      deltaT: 17.640726 s,
      deltaX: -5.668846 m,
      approachRate: -0.321350 m/s,
      posRepo size: 4

2025-08-21T06:49:52.214Z,1755758992.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.15 m.
2025-08-21T06:49:52.224Z,1755758992.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 1.291134 m,
      bearing: 25.533911 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.863421 deg/s,
      cmd heading: 100.137410 deg,
      new cmd heading: 98.914132 deg.

2025-08-21T06:49:52.225Z,1755758992.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726377 target range: 9.149671 and range: 3.50 m.
2025-08-21T06:49:52.558Z,1755758992.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:52.561Z,1755758992.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:52.562Z,1755758992.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.678218 deg/s. Setting heading cmd to target acoustic bearing of 100.137410 deg.
2025-08-21T06:49:52.563Z,1755758992.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747728 target range: 9.149671 and range: 3.50 m.
2025-08-21T06:49:52.788Z,1755758992.788 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:52.788Z,1755758992.788 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:52.788Z,1755758992.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:52.926Z,1755758992.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:52.927Z,1755758992.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.987421 deg/s. Setting heading cmd to target acoustic bearing of 100.137410 deg.
2025-08-21T06:49:52.928Z,1755758992.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747728 target range: 9.149671 and range: 3.50 m.
2025-08-21T06:49:53.042Z,1755758993.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987304
2025-08-21T06:49:53.292Z,1755758993.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238024
2025-08-21T06:49:53.365Z,1755758993.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:53.366Z,1755758993.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.358935 deg/s. Setting heading cmd to target acoustic bearing of 100.137410 deg.
2025-08-21T06:49:53.366Z,1755758993.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747728 target range: 9.149671 and range: 3.50 m.
2025-08-21T06:49:53.545Z,1755758993.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490623
2025-08-21T06:49:53.796Z,1755758993.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742057
2025-08-21T06:49:53.849Z,1755758993.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:53.851Z,1755758993.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.685257 deg/s. Setting heading cmd to target acoustic bearing of 100.137410 deg.
2025-08-21T06:49:53.856Z,1755758993.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747728 target range: 9.149671 and range: 3.50 m.
2025-08-21T06:49:54.050Z,1755758994.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995244
2025-08-21T06:49:54.300Z,1755758994.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245923
2025-08-21T06:49:54.326Z,1755758994.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:54.328Z,1755758994.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.994630 deg/s. Setting heading cmd to target acoustic bearing of 100.137410 deg.
2025-08-21T06:49:54.329Z,1755758994.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747728 target range: 9.149671 and range: 3.50 m.
2025-08-21T06:49:54.553Z,1755758994.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498670
2025-08-21T06:49:54.754Z,1755758994.754 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:54.756Z,1755758994.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:54.758Z,1755758994.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.629116 deg/s. Setting heading cmd to target acoustic bearing of 100.137410 deg.
2025-08-21T06:49:54.758Z,1755758994.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747728 target range: 9.149671 and range: 3.50 m.
2025-08-21T06:49:54.804Z,1755758994.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750191
2025-08-21T06:49:55.056Z,1755758995.056 [DAT](INFO): DAT read: Rx Time:06:49:53.6832

2025-08-21T06:49:55.057Z,1755758995.057 [DAT](INFO): Rx dataTimestamp_ set to:1755758995.056487
2025-08-21T06:49:55.057Z,1755758995.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003117
2025-08-21T06:49:55.227Z,1755758995.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:55.229Z,1755758995.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.100436 deg/s. Setting heading cmd to target acoustic bearing of 100.137410 deg.
2025-08-21T06:49:55.229Z,1755758995.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747728 target range: 9.149671 and range: 3.50 m.
2025-08-21T06:49:55.308Z,1755758995.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254243
2025-08-21T06:49:55.566Z,1755758995.566 [DAT](INFO): DAT read: 06:49:53.6832 LVL= 31312, 29345, 23346, 32755, AGC= 49, IDX= 447,-0.25,-1.583,-0.450, 0.565, 0.592, PHS=-2.073,-0.997,-0.071, RAW= 242.5,  32.6, CAL= 246.1,  41.9, ROT= 263.9, -41.9

2025-08-21T06:49:55.571Z,1755758995.571 [DAT](INFO): got valid direction response:
 06:49:53.6832 LVL= 31312, 29345, 23346, 32755, AGC= 49, IDX= 447,-0.25,-1.583,-0.450, 0.565, 0.592, PHS=-2.073,-0.997,-0.071, RAW= 242.5,  32.6, CAL= 246.1,  41.9, ROT= 263.9, -41.9

2025-08-21T06:49:55.572Z,1755758995.572 [DAT](INFO): DAT read: Bearing 356.4, -49.6 (Local)

2025-08-21T06:49:55.573Z,1755758995.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4, -49.6 (Local)

2025-08-21T06:49:55.574Z,1755758995.574 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m  (Round-trip  4.9 ms) speed -0.2 m/s

2025-08-21T06:49:55.575Z,1755758995.575 [DAT](INFO): DAT read: user:1943>

2025-08-21T06:49:55.588Z,1755758995.588 [DAT](INFO): DAT read: Tx time:06:49:54.7741

2025-08-21T06:49:55.589Z,1755758995.589 [DAT](INFO): Ping request sent.
2025-08-21T06:49:55.589Z,1755758995.589 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:55.589Z,1755758995.589 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:55.591Z,1755758995.591 [DAT](INFO): direction in FSK: [-0.079094,-0.740097,0.667833]
2025-08-21T06:49:55.592Z,1755758995.592 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:55.592Z,1755758995.592 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:55.625Z,1755758995.625 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:55.626Z,1755758995.626 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:55.767Z,1755758995.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.600000 m,
      deltaT: 3.527352 s,
      deltaX: 0.100000 m,
      approachRate: 0.028350 m/s,
      rangeRepo size: 4

2025-08-21T06:49:55.769Z,1755758995.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.580249 m,
      bearing: 354.870919 deg,
      lat: 36.779373 deg,
      lon: -121.859442 deg,
      deltaT: 21.168078 s,
      deltaX: -5.569421 m,
      approachRate: -0.263105 m/s,
      posRepo size: 4

2025-08-21T06:49:55.770Z,1755758995.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.58 m. 9.15 m.
2025-08-21T06:49:55.777Z,1755758995.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 1.667807 m,
      bearing: 322.491610 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.863421 deg/s,
      cmd heading: 100.137410 deg,
      new cmd heading: 98.750403 deg.

2025-08-21T06:49:55.778Z,1755758995.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.723520 target range: 9.149671 and range: 3.60 m.
2025-08-21T06:49:56.115Z,1755758996.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-08-21T06:49:56.132Z,1755758996.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:56.134Z,1755758996.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 1.768700 m,
      bearing: 318.424657 deg,
      approach rate: 0.286193 m/s,
      LOS rate: -10.869104 deg/s,
      cmd heading: 98.750404 deg,
      new cmd heading: 87.405799 deg.

2025-08-21T06:49:56.140Z,1755758996.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.525519 target range: 9.149671 and range: 3.60 m.
2025-08-21T06:49:56.590Z,1755758996.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m.
2025-08-21T06:49:56.591Z,1755758996.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:56.594Z,1755758996.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 1.905681 m,
      bearing: 313.929040 deg,
      approach rate: 0.288083 m/s,
      LOS rate: -8.766059 deg/s,
      cmd heading: 87.405801 deg,
      new cmd heading: 75.094277 deg.

2025-08-21T06:49:56.595Z,1755758996.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.310642 target range: 9.149671 and range: 3.60 m.
2025-08-21T06:49:56.925Z,1755758996.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:56.931Z,1755758996.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-08-21T06:49:56.932Z,1755758996.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:56.935Z,1755758996.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.006200 m,
      bearing: 311.038046 deg,
      approach rate: 0.298352 m/s,
      LOS rate: -8.147413 deg/s,
      cmd heading: 75.094276 deg,
      new cmd heading: 66.915354 deg.

2025-08-21T06:49:56.936Z,1755758996.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.167893 target range: 9.149671 and range: 3.60 m.
2025-08-21T06:49:57.080Z,1755758997.080 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:49:57.080Z,1755758997.080 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:49:57.080Z,1755758997.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:49:57.332Z,1755758997.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743409
2025-08-21T06:49:57.346Z,1755758997.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:57.349Z,1755758997.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.128781 m,
      bearing: 307.940800 deg,
      approach rate: 0.297518 m/s,
      LOS rate: -7.081030 deg/s,
      cmd heading: 66.915356 deg,
      new cmd heading: 58.230070 deg.

2025-08-21T06:49:57.350Z,1755758997.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.016306 target range: 9.149671 and range: 3.60 m.
2025-08-21T06:49:57.586Z,1755758997.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997139
2025-08-21T06:49:57.760Z,1755758997.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m.
2025-08-21T06:49:57.761Z,1755758997.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:57.764Z,1755758997.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.265571 m,
      bearing: 304.983676 deg,
      approach rate: 0.324982 m/s,
      LOS rate: -6.598337 deg/s,
      cmd heading: 58.230067 deg,
      new cmd heading: 49.956030 deg.

2025-08-21T06:49:57.765Z,1755758997.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.871897 target range: 9.149671 and range: 3.60 m.
2025-08-21T06:49:57.836Z,1755758997.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247571
2025-08-21T06:49:58.088Z,1755758998.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499344
2025-08-21T06:49:58.145Z,1755758998.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-08-21T06:49:58.146Z,1755758998.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:58.150Z,1755758998.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.388620 m,
      bearing: 302.631495 deg,
      approach rate: 0.320091 m/s,
      LOS rate: -5.801973 deg/s,
      cmd heading: 49.956031 deg,
      new cmd heading: 43.295054 deg.

2025-08-21T06:49:58.152Z,1755758998.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.755641 target range: 9.149671 and range: 3.60 m.
2025-08-21T06:49:58.340Z,1755758998.340 [DAT](INFO): DAT read: Rx Time:06:49:57.1838

2025-08-21T06:49:58.341Z,1755758998.341 [DAT](INFO): Rx dataTimestamp_ set to:1755758998.340453
2025-08-21T06:49:58.341Z,1755758998.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752438
2025-08-21T06:49:58.589Z,1755758998.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.60 m.
2025-08-21T06:49:58.590Z,1755758998.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:58.592Z,1755758998.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003544
2025-08-21T06:49:58.594Z,1755758998.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.533736 m,
      bearing: 300.223400 deg,
      approach rate: 0.326616 m/s,
      LOS rate: -5.108015 deg/s,
      cmd heading: 43.295053 deg,
      new cmd heading: 36.518312 deg.

2025-08-21T06:49:58.595Z,1755758998.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.637365 target range: 9.149671 and range: 3.60 m.
2025-08-21T06:49:58.848Z,1755758998.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258592
2025-08-21T06:49:58.955Z,1755758998.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:49:58.957Z,1755758998.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.60 m.
2025-08-21T06:49:58.958Z,1755758998.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:58.961Z,1755758998.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.655400 m,
      bearing: 298.395732 deg,
      approach rate: 0.330165 m/s,
      LOS rate: -4.731796 deg/s,
      cmd heading: 36.518313 deg,
      new cmd heading: 31.301873 deg.

2025-08-21T06:49:58.962Z,1755758998.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546321 target range: 9.149671 and range: 3.60 m.
2025-08-21T06:49:59.102Z,1755758999.102 [DAT](INFO): DAT read: 06:49:57.1838 LVL= 32752, 29809, 17970, 32755, AGC= 51, IDX= 439,-0.26, 1.494,-2.780,-2.888,-2.711, PHS=-1.977,-0.024,-0.221, RAW= 275.3,  22.9, CAL= 276.4,  30.5, ROT= 233.6, -30.5

2025-08-21T06:49:59.103Z,1755758999.103 [DAT](INFO): got valid direction response:
 06:49:57.1838 LVL= 32752, 29809, 17970, 32755, AGC= 51, IDX= 439,-0.26, 1.494,-2.780,-2.888,-2.711, PHS=-1.977,-0.024,-0.221, RAW= 275.3,  22.9, CAL= 276.4,  30.5, ROT= 233.6, -30.5

2025-08-21T06:49:59.104Z,1755758999.104 [DAT](INFO): DAT read: Bearing  26.5, -43.4 (Local)

2025-08-21T06:49:59.104Z,1755758999.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing  26.5, -43.4 (Local)

2025-08-21T06:49:59.106Z,1755758999.106 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m  (Round-trip  5.6 ms) speed -0.3 m/s

2025-08-21T06:49:59.107Z,1755758999.107 [DAT](INFO): DAT read: user:1944>

2025-08-21T06:49:59.107Z,1755758999.107 [DAT](INFO): DAT read: Tx time:06:49:58.2741

2025-08-21T06:49:59.108Z,1755758999.108 [DAT](INFO): Ping request sent.
2025-08-21T06:49:59.108Z,1755758999.108 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:49:59.108Z,1755758999.108 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:49:59.109Z,1755758999.109 [DAT](INFO): direction in FSK: [-0.511307,-0.693520,0.507538]
2025-08-21T06:49:59.109Z,1755758999.109 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:59.110Z,1755758999.110 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:59.113Z,1755758999.113 [DAT](INFO): publishing transmit ping time
2025-08-21T06:49:59.113Z,1755758999.113 [DAT](INFO): publishing direction and range info
2025-08-21T06:49:59.370Z,1755758999.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.200000 m,
      deltaT: 3.535950 s,
      deltaX: 0.600000 m,
      approachRate: 0.169686 m/s,
      rangeRepo size: 4

2025-08-21T06:49:59.372Z,1755758999.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.176957 m,
      bearing: 313.750885 deg,
      lat: 36.779375 deg,
      lon: -121.859443 deg,
      deltaT: 24.704028 s,
      deltaX: -4.972714 m,
      approachRate: -0.201292 m/s,
      posRepo size: 4

2025-08-21T06:49:59.373Z,1755758999.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.15 m.
2025-08-21T06:49:59.380Z,1755758999.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.786166 m,
      bearing: 296.589538 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.863421 deg/s,
      cmd heading: 31.301872 deg,
      new cmd heading: 30.234859 deg.

2025-08-21T06:49:59.381Z,1755758999.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.527698 target range: 9.149671 and range: 4.20 m.
2025-08-21T06:49:59.778Z,1755758999.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.20 m.
2025-08-21T06:49:59.779Z,1755758999.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:49:59.786Z,1755758999.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 2.922567 m,
      bearing: 294.774064 deg,
      approach rate: 0.333802 m/s,
      LOS rate: -4.234757 deg/s,
      cmd heading: 30.234860 deg,
      new cmd heading: 25.057638 deg.

2025-08-21T06:49:59.786Z,1755758999.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437338 target range: 9.149671 and range: 4.20 m.
2025-08-21T06:50:00.155Z,1755759000.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.20 m.
2025-08-21T06:50:00.156Z,1755759000.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:00.160Z,1755759000.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.052172 m,
      bearing: 293.180078 deg,
      approach rate: 0.344566 m/s,
      LOS rate: -4.057287 deg/s,
      cmd heading: 25.057638 deg,
      new cmd heading: 20.489034 deg.

2025-08-21T06:50:00.161Z,1755759000.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357601 target range: 9.149671 and range: 4.20 m.
2025-08-21T06:50:00.634Z,1755759000.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.20 m.
2025-08-21T06:50:00.634Z,1755759000.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:00.637Z,1755759000.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.208427 m,
      bearing: 291.370364 deg,
      approach rate: 0.325892 m/s,
      LOS rate: -3.589988 deg/s,
      cmd heading: 20.489034 deg,
      new cmd heading: 15.339074 deg.

2025-08-21T06:50:00.638Z,1755759000.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.267717 target range: 9.149671 and range: 4.20 m.
2025-08-21T06:50:00.961Z,1755759000.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:50:00.963Z,1755759000.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.20 m.
2025-08-21T06:50:00.964Z,1755759000.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:00.966Z,1755759000.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.329330 m,
      bearing: 290.066572 deg,
      approach rate: 0.367295 m/s,
      LOS rate: -3.816681 deg/s,
      cmd heading: 15.339073 deg,
      new cmd heading: 11.575485 deg.

2025-08-21T06:50:00.983Z,1755759000.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.202030 target range: 9.149671 and range: 4.20 m.
2025-08-21T06:50:01.112Z,1755759001.112 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:50:01.112Z,1755759001.112 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:50:01.112Z,1755759001.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:50:01.364Z,1755759001.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256511
2025-08-21T06:50:01.373Z,1755759001.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:01.376Z,1755759001.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.470046 m,
      bearing: 288.637545 deg,
      approach rate: 0.343405 m/s,
      LOS rate: -3.345639 deg/s,
      cmd heading: 11.575484 deg,
      new cmd heading: 7.469720 deg.

2025-08-21T06:50:01.377Z,1755759001.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.130371 target range: 9.149671 and range: 4.20 m.
2025-08-21T06:50:01.616Z,1755759001.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508493
2025-08-21T06:50:01.796Z,1755759001.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.20 m.
2025-08-21T06:50:01.796Z,1755759001.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:01.799Z,1755759001.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.618272 m,
      bearing: 287.198964 deg,
      approach rate: 0.350247 m/s,
      LOS rate: -3.259673 deg/s,
      cmd heading: 7.469719 deg,
      new cmd heading: 3.338385 deg.

2025-08-21T06:50:01.800Z,1755759001.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058266 target range: 9.149671 and range: 4.20 m.
2025-08-21T06:50:01.870Z,1755759001.870 [DAT](INFO): DAT read: Rx Time:06:50:00.6851

2025-08-21T06:50:01.870Z,1755759001.870 [DAT](INFO): Rx dataTimestamp_ set to:1755759001.869797
2025-08-21T06:50:01.871Z,1755759001.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762830
2025-08-21T06:50:02.120Z,1755759002.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012421
2025-08-21T06:50:02.191Z,1755759002.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.20 m.
2025-08-21T06:50:02.192Z,1755759002.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:02.194Z,1755759002.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.756918 m,
      bearing: 285.931225 deg,
      approach rate: 0.350928 m/s,
      LOS rate: -3.090122 deg/s,
      cmd heading: 3.338385 deg,
      new cmd heading: 359.680797 deg.

2025-08-21T06:50:02.195Z,1755759002.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.277614 target range: 9.149671 and range: 4.20 m.
2025-08-21T06:50:02.400Z,1755759002.400 [DAT](INFO): DAT read: 06:50:00.6851 LVL= 32752, 25585, 30866, 32755, AGC= 51, IDX= 435, 0.10, 0.569, 2.742, 2.381, 2.580, PHS=-1.908, 0.207,-0.243, RAW= 281.7,  19.6, CAL= 281.6,  27.0, ROT= 228.4, -27.0

2025-08-21T06:50:02.402Z,1755759002.402 [DAT](INFO): got valid direction response:
 06:50:00.6851 LVL= 32752, 25585, 30866, 32755, AGC= 51, IDX= 435, 0.10, 0.569, 2.742, 2.381, 2.580, PHS=-1.908, 0.207,-0.243, RAW= 281.7,  19.6, CAL= 281.6,  27.0, ROT= 228.4, -27.0

2025-08-21T06:50:02.403Z,1755759002.403 [DAT](INFO): DAT read: Bearing  25.3, -41.1 (Local)

2025-08-21T06:50:02.404Z,1755759002.404 [DAT](INFO): Local bearing/azimuth received:
 Bearing  25.3, -41.1 (Local)

2025-08-21T06:50:02.405Z,1755759002.405 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m  (Round-trip  6.9 ms) speed -0.3 m/s

2025-08-21T06:50:02.406Z,1755759002.406 [DAT](INFO): DAT read: user:1945>

2025-08-21T06:50:02.406Z,1755759002.406 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:50:02.407Z,1755759002.407 [DAT](INFO): direction in FSK: [-0.591563,-0.666293,0.453991]
2025-08-21T06:50:02.407Z,1755759002.407 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:02.411Z,1755759002.411 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:50:02.411Z,1755759002.411 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:50:02.412Z,1755759002.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:50:02.624Z,1755759002.624 [DAT](INFO): DAT read: Tx time:06:50:01.8241

2025-08-21T06:50:02.625Z,1755759002.625 [DAT](INFO): Ping request sent.
2025-08-21T06:50:02.625Z,1755759002.625 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:02.625Z,1755759002.625 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:02.626Z,1755759002.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-08-21T06:50:02.722Z,1755759002.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.100000 m,
      deltaT: 3.282424 s,
      deltaX: 0.900000 m,
      approachRate: 0.274188 m/s,
      rangeRepo size: 4

2025-08-21T06:50:02.732Z,1755759002.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.071986 m,
      bearing: 301.139406 deg,
      lat: 36.779377 deg,
      lon: -121.859443 deg,
      deltaT: 27.986452 s,
      deltaX: -4.077685 m,
      approachRate: -0.145702 m/s,
      posRepo size: 4

2025-08-21T06:50:02.733Z,1755759002.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.10 m.
2025-08-21T06:50:02.734Z,1755759002.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.07 m. 9.15 m.
2025-08-21T06:50:02.740Z,1755759002.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 3.930582 m,
      bearing: 284.373871 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.863421 deg/s,
      cmd heading: 359.680794 deg,
      new cmd heading: 358.306565 deg.

2025-08-21T06:50:02.741Z,1755759002.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253629 target range: 9.149671 and range: 5.10 m.
2025-08-21T06:50:02.876Z,1755759002.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251261
2025-08-21T06:50:03.088Z,1755759003.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:50:03.090Z,1755759003.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.10 m.
2025-08-21T06:50:03.090Z,1755759003.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:03.093Z,1755759003.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 4.069949 m,
      bearing: 283.197075 deg,
      approach rate: 0.378552 m/s,
      LOS rate: -3.086778 deg/s,
      cmd heading: 358.306560 deg,
      new cmd heading: 354.901318 deg.

2025-08-21T06:50:03.094Z,1755759003.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194197 target range: 9.149671 and range: 5.10 m.
2025-08-21T06:50:03.128Z,1755759003.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503342
2025-08-21T06:50:03.380Z,1755759003.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755332
2025-08-21T06:50:03.617Z,1755759003.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:03.628Z,1755759003.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 4.238798 m,
      bearing: 281.891367 deg,
      approach rate: 0.320499 m/s,
      LOS rate: -2.379487 deg/s,
      cmd heading: 354.901328 deg,
      new cmd heading: 351.145953 deg.

2025-08-21T06:50:03.629Z,1755759003.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.128653 target range: 9.149671 and range: 5.10 m.
2025-08-21T06:50:03.632Z,1755759003.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007449
2025-08-21T06:50:03.886Z,1755759003.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260593
2025-08-21T06:50:03.928Z,1755759003.928 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:50:04.064Z,1755759004.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.10 m.
2025-08-21T06:50:04.064Z,1755759004.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:04.067Z,1755759004.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 4.417812 m,
      bearing: 280.519338 deg,
      approach rate: 0.400605 m/s,
      LOS rate: -2.945682 deg/s,
      cmd heading: 351.145954 deg,
      new cmd heading: 347.203266 deg.

2025-08-21T06:50:04.068Z,1755759004.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.059840 target range: 9.149671 and range: 5.10 m.
2025-08-21T06:50:04.137Z,1755759004.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511606
2025-08-21T06:50:04.388Z,1755759004.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763155
2025-08-21T06:50:04.401Z,1755759004.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.10 m.
2025-08-21T06:50:04.402Z,1755759004.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:04.409Z,1755759004.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 4.532030 m,
      bearing: 279.625517 deg,
      approach rate: 0.338354 m/s,
      LOS rate: -2.580975 deg/s,
      cmd heading: 347.203268 deg,
      new cmd heading: 344.591300 deg.

2025-08-21T06:50:04.409Z,1755759004.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.014253 target range: 9.149671 and range: 5.10 m.
2025-08-21T06:50:04.642Z,1755759004.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017526
2025-08-21T06:50:04.894Z,1755759004.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.10 m.
2025-08-21T06:50:04.894Z,1755759004.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:04.896Z,1755759004.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271470
2025-08-21T06:50:04.899Z,1755759004.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 4.706614 m,
      bearing: 278.231902 deg,
      approach rate: 0.354324 m/s,
      LOS rate: -2.723217 deg/s,
      cmd heading: 344.591294 deg,
      new cmd heading: 340.572532 deg.

2025-08-21T06:50:04.916Z,1755759004.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.944112 target range: 9.149671 and range: 5.10 m.
2025-08-21T06:50:04.932Z,1755759004.932 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:50:05.149Z,1755759005.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523753
2025-08-21T06:50:05.296Z,1755759005.296 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:50:05.302Z,1755759005.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 5.10 m.
2025-08-21T06:50:05.302Z,1755759005.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:05.305Z,1755759005.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 4.842402 m,
      bearing: 277.199537 deg,
      approach rate: 0.332749 m/s,
      LOS rate: -2.458732 deg/s,
      cmd heading: 340.572520 deg,
      new cmd heading: 337.565200 deg.

2025-08-21T06:50:05.306Z,1755759005.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.891624 target range: 9.149671 and range: 5.10 m.
2025-08-21T06:50:05.401Z,1755759005.401 [DAT](INFO): DAT read: Rx Time:06:50:04.2364

2025-08-21T06:50:05.401Z,1755759005.401 [DAT](INFO): Rx dataTimestamp_ set to:1755759005.400738
2025-08-21T06:50:05.402Z,1755759005.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776637
2025-08-21T06:50:05.653Z,1755759005.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027686
2025-08-21T06:50:05.794Z,1755759005.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 5.10 m.
2025-08-21T06:50:05.795Z,1755759005.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:05.813Z,1755759005.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.013392 m,
      bearing: 275.821570 deg,
      approach rate: 0.347409 m/s,
      LOS rate: -2.703927 deg/s,
      cmd heading: 337.565188 deg,
      new cmd heading: 333.579110 deg.

2025-08-21T06:50:05.814Z,1755759005.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.822054 target range: 9.149671 and range: 5.10 m.
2025-08-21T06:50:05.909Z,1755759005.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282902
2025-08-21T06:50:06.165Z,1755759006.165 [DAT](INFO): DAT read: 06:50:04.2364 LVL= 32752, 21617, 27122, 32755, AGC= 48, IDX= 432, 0.33,-1.245, 0.780, 0.100, 0.438, PHS=-1.581, 0.387,-0.383, RAW= 292.8,  18.0, CAL= 291.5,  24.8, ROT= 218.5, -24.8

2025-08-21T06:50:06.166Z,1755759006.166 [DAT](INFO): got valid direction response:
 06:50:04.2364 LVL= 32752, 21617, 27122, 32755, AGC= 48, IDX= 432, 0.33,-1.245, 0.780, 0.100, 0.438, PHS=-1.581, 0.387,-0.383, RAW= 292.8,  18.0, CAL= 291.5,  24.8, ROT= 218.5, -24.8

2025-08-21T06:50:06.168Z,1755759006.168 [DAT](INFO): DAT read: Bearing  23.4, -33.9 (Local)

2025-08-21T06:50:06.168Z,1755759006.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing  23.4, -33.9 (Local)

2025-08-21T06:50:06.170Z,1755759006.170 [DAT](INFO): DAT read: Range 11 to 50 : 6.1 m  (Round-trip  8.2 ms) speed -0.3 m/s

2025-08-21T06:50:06.196Z,1755759006.196 [DAT](INFO): DAT read: user:1946>

2025-08-21T06:50:06.196Z,1755759006.196 [DAT](INFO): DAT read: Tx time:06:50:05.3741

2025-08-21T06:50:06.197Z,1755759006.197 [DAT](INFO): Ping request sent.
2025-08-21T06:50:06.197Z,1755759006.197 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:06.197Z,1755759006.197 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:50:06.198Z,1755759006.198 [DAT](INFO): direction in FSK: [-0.710434,-0.565105,0.419452]
2025-08-21T06:50:06.198Z,1755759006.198 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:06.199Z,1755759006.199 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:06.210Z,1755759006.210 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:06.210Z,1755759006.210 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:06.245Z,1755759006.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.100000 m,
      deltaT: 3.778362 s,
      deltaX: 1.000000 m,
      approachRate: 0.264665 m/s,
      rangeRepo size: 4

2025-08-21T06:50:06.256Z,1755759006.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.066532 m,
      bearing: 283.250643 deg,
      lat: 36.779377 deg,
      lon: -121.859443 deg,
      deltaT: 31.764814 s,
      deltaX: -3.083138 m,
      approachRate: -0.097061 m/s,
      posRepo size: 4

2025-08-21T06:50:06.256Z,1755759006.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 6.10 m.
2025-08-21T06:50:06.257Z,1755759006.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.07 m. 9.15 m.
2025-08-21T06:50:06.264Z,1755759006.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.152390 m,
      bearing: 274.750365 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.863421 deg/s,
      cmd heading: 333.579117 deg,
      new cmd heading: 332.411453 deg.

2025-08-21T06:50:06.265Z,1755759006.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.801674 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:50:06.670Z,1755759006.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:06.673Z,1755759006.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.294486 m,
      bearing: 273.694237 deg,
      approach rate: 0.334335 m/s,
      LOS rate: -2.418113 deg/s,
      cmd heading: 332.411455 deg,
      new cmd heading: 329.331252 deg.

2025-08-21T06:50:06.674Z,1755759006.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.747915 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:50:07.073Z,1755759007.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.10 m.
2025-08-21T06:50:07.073Z,1755759007.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:07.077Z,1755759007.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.442161 m,
      bearing: 272.593386 deg,
      approach rate: 0.366614 m/s,
      LOS rate: -2.658627 deg/s,
      cmd heading: 329.331259 deg,
      new cmd heading: 326.121879 deg.

2025-08-21T06:50:07.078Z,1755759007.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.691901 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:50:07.410Z,1755759007.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:50:07.412Z,1755759007.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 6.10 m.
2025-08-21T06:50:07.413Z,1755759007.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:07.416Z,1755759007.416 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:50:07.416Z,1755759007.416 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:50:07.416Z,1755759007.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:50:07.419Z,1755759007.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.557960 m,
      bearing: 271.754171 deg,
      approach rate: 0.341176 m/s,
      LOS rate: -2.420960 deg/s,
      cmd heading: 326.121889 deg,
      new cmd heading: 323.658307 deg.

2025-08-21T06:50:07.420Z,1755759007.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.648903 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:50:07.668Z,1755759007.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471412
2025-08-21T06:50:07.837Z,1755759007.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.10 m.
2025-08-21T06:50:07.838Z,1755759007.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:07.840Z,1755759007.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.698783 m,
      bearing: 270.704074 deg,
      approach rate: 0.331370 m/s,
      LOS rate: -2.409773 deg/s,
      cmd heading: 323.658295 deg,
      new cmd heading: 320.588961 deg.

2025-08-21T06:50:07.841Z,1755759007.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.595333 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:50:07.920Z,1755759007.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723603
2025-08-21T06:50:08.173Z,1755759008.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975778
2025-08-21T06:50:08.313Z,1755759008.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 6.10 m.
2025-08-21T06:50:08.314Z,1755759008.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:08.316Z,1755759008.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.856851 m,
      bearing: 269.565318 deg,
      approach rate: 0.332117 m/s,
      LOS rate: -2.327928 deg/s,
      cmd heading: 320.588972 deg,
      new cmd heading: 317.268844 deg.

2025-08-21T06:50:08.317Z,1755759008.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.537386 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:50:08.424Z,1755759008.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227541
2025-08-21T06:50:08.679Z,1755759008.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481176
2025-08-21T06:50:08.708Z,1755759008.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:08.711Z,1755759008.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 5.984006 m,
      bearing: 268.676325 deg,
      approach rate: 0.322105 m/s,
      LOS rate: -2.204026 deg/s,
      cmd heading: 317.268844 deg,
      new cmd heading: 314.660444 deg.

2025-08-21T06:50:08.716Z,1755759008.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.491861 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:50:08.932Z,1755759008.932 [DAT](INFO): DAT read: Rx Time:06:50:07.7877

2025-08-21T06:50:08.932Z,1755759008.932 [DAT](INFO): Rx dataTimestamp_ set to:1755759008.931757
2025-08-21T06:50:08.933Z,1755759008.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736122
2025-08-21T06:50:09.086Z,1755759009.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.10 m.
2025-08-21T06:50:09.087Z,1755759009.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:09.089Z,1755759009.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 6.115990 m,
      bearing: 267.768050 deg,
      approach rate: 0.348897 m/s,
      LOS rate: -2.349096 deg/s,
      cmd heading: 314.660449 deg,
      new cmd heading: 311.996459 deg.

2025-08-21T06:50:09.090Z,1755759009.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445365 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:50:09.181Z,1755759009.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983821
2025-08-21T06:50:09.432Z,1755759009.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235447
2025-08-21T06:50:09.514Z,1755759009.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:50:09.520Z,1755759009.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 6.10 m.
2025-08-21T06:50:09.521Z,1755759009.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:09.529Z,1755759009.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 6.244547 m,
      bearing: 266.903092 deg,
      approach rate: 0.296007 m/s,
      LOS rate: -1.950520 deg/s,
      cmd heading: 311.996457 deg,
      new cmd heading: 309.456765 deg.

2025-08-21T06:50:09.530Z,1755759009.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.401040 target range: 9.149671 and range: 6.10 m.
2025-08-21T06:50:09.697Z,1755759009.697 [DAT](INFO): DAT read: 06:50:07.7877 LVL= 32752, 22945, 23714, 32755, AGC= 49, IDX= 446, 0.18,-1.188, 0.874, 0.175, 0.486, PHS=-1.573, 0.433,-0.355, RAW= 292.9,  16.8, CAL= 291.2,  23.7, ROT= 218.8, -23.7

2025-08-21T06:50:09.698Z,1755759009.698 [DAT](INFO): got valid direction response:
 06:50:07.7877 LVL= 32752, 22945, 23714, 32755, AGC= 49, IDX= 446, 0.18,-1.188, 0.874, 0.175, 0.486, PHS=-1.573, 0.433,-0.355, RAW= 292.9,  16.8, CAL= 291.2,  23.7, ROT= 218.8, -23.7

2025-08-21T06:50:09.699Z,1755759009.699 [DAT](INFO): DAT read: Bearing  16.6, -35.3 (Local)

2025-08-21T06:50:09.707Z,1755759009.707 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.6, -35.3 (Local)

2025-08-21T06:50:09.709Z,1755759009.709 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m  (Round-trip  9.5 ms) speed -0.3 m/s

2025-08-21T06:50:09.710Z,1755759009.710 [DAT](INFO): DAT read: user:1947>

2025-08-21T06:50:09.710Z,1755759009.710 [DAT](INFO): DAT read: Tx time:06:50:08.9241

2025-08-21T06:50:09.711Z,1755759009.711 [DAT](INFO): Ping request sent.
2025-08-21T06:50:09.711Z,1755759009.711 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:09.725Z,1755759009.725 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:50:09.726Z,1755759009.726 [DAT](INFO): direction in FSK: [-0.713611,-0.573758,0.401948]
2025-08-21T06:50:09.727Z,1755759009.727 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:09.736Z,1755759009.736 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:09.745Z,1755759009.745 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:09.746Z,1755759009.746 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:09.921Z,1755759009.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.100000 m,
      deltaT: 3.528641 s,
      deltaX: 1.000000 m,
      approachRate: 0.283395 m/s,
      rangeRepo size: 4

2025-08-21T06:50:09.923Z,1755759009.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.061051 m,
      bearing: 275.472431 deg,
      lat: 36.779377 deg,
      lon: -121.859442 deg,
      deltaT: 35.293455 s,
      deltaX: -2.088620 m,
      approachRate: -0.059179 m/s,
      posRepo size: 4

2025-08-21T06:50:09.928Z,1755759009.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 7.10 m.
2025-08-21T06:50:09.928Z,1755759009.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.15 m.
2025-08-21T06:50:09.931Z,1755759009.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 6.394514 m,
      bearing: 265.936477 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.863421 deg/s,
      cmd heading: 309.456774 deg,
      new cmd heading: 308.420766 deg.

2025-08-21T06:50:09.940Z,1755759009.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382958 target range: 9.149671 and range: 7.10 m.
2025-08-21T06:50:10.261Z,1755759010.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:10.264Z,1755759010.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 6.519147 m,
      bearing: 265.150963 deg,
      approach rate: 0.366044 m/s,
      LOS rate: -2.262839 deg/s,
      cmd heading: 308.420771 deg,
      new cmd heading: 306.110609 deg.

2025-08-21T06:50:10.265Z,1755759010.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.342638 target range: 9.149671 and range: 7.10 m.
2025-08-21T06:50:10.697Z,1755759010.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:10.715Z,1755759010.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 6.656061 m,
      bearing: 264.304378 deg,
      approach rate: 0.324660 m/s,
      LOS rate: -1.966121 deg/s,
      cmd heading: 306.110610 deg,
      new cmd heading: 303.624748 deg.

2025-08-21T06:50:10.720Z,1755759010.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299252 target range: 9.149671 and range: 7.10 m.
2025-08-21T06:50:11.092Z,1755759011.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:11.095Z,1755759011.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 6.804375 m,
      bearing: 263.417328 deg,
      approach rate: 0.362213 m/s,
      LOS rate: -2.119053 deg/s,
      cmd heading: 303.624749 deg,
      new cmd heading: 301.023496 deg.

2025-08-21T06:50:11.096Z,1755759011.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.253851 target range: 9.149671 and range: 7.10 m.
2025-08-21T06:50:11.465Z,1755759011.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:11.467Z,1755759011.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 6.931002 m,
      bearing: 262.673820 deg,
      approach rate: 0.340125 m/s,
      LOS rate: -1.960553 deg/s,
      cmd heading: 301.023485 deg,
      new cmd heading: 298.834837 deg.

2025-08-21T06:50:11.469Z,1755759011.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.215652 target range: 9.149671 and range: 7.10 m.
2025-08-21T06:50:11.895Z,1755759011.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:50:11.898Z,1755759011.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:11.901Z,1755759011.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 7.087306 m,
      bearing: 261.813035 deg,
      approach rate: 0.360798 m/s,
      LOS rate: -1.943071 deg/s,
      cmd heading: 298.834846 deg,
      new cmd heading: 296.311172 deg.

2025-08-21T06:50:11.902Z,1755759011.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.171606 target range: 9.149671 and range: 7.10 m.
2025-08-21T06:50:11.952Z,1755759011.952 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:50:11.953Z,1755759011.953 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:50:11.953Z,1755759011.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:50:12.204Z,1755759012.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493475
2025-08-21T06:50:12.280Z,1755759012.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:12.282Z,1755759012.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 7.224056 m,
      bearing: 261.050844 deg,
      approach rate: 0.358067 m/s,
      LOS rate: -1.957888 deg/s,
      cmd heading: 296.311173 deg,
      new cmd heading: 294.069096 deg.

2025-08-21T06:50:12.284Z,1755759012.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.132474 target range: 9.149671 and range: 7.10 m.
2025-08-21T06:50:12.456Z,1755759012.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745469
2025-08-21T06:50:12.685Z,1755759012.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:12.711Z,1755759012.711 [DAT](INFO): DAT read: Rx Time:06:50:11.3391

2025-08-21T06:50:12.713Z,1755759012.713 [DAT](INFO): Rx dataTimestamp_ set to:1755759012.711855
2025-08-21T06:50:12.714Z,1755759012.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003342
2025-08-21T06:50:12.717Z,1755759012.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 7.364428 m,
      bearing: 260.280048 deg,
      approach rate: 0.348039 m/s,
      LOS rate: -1.874634 deg/s,
      cmd heading: 294.069096 deg,
      new cmd heading: 291.802036 deg.

2025-08-21T06:50:12.730Z,1755759012.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.092906 target range: 9.149671 and range: 7.10 m.
2025-08-21T06:50:12.961Z,1755759012.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249780
2025-08-21T06:50:13.152Z,1755759013.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.15 m.
2025-08-21T06:50:13.157Z,1755759013.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.149671 m,
      nav range: 7.527586 m,
      bearing: 259.408565 deg,
      approach rate: 0.348712 m/s,
      LOS rate: -1.822147 deg/s,
      cmd heading: 291.802046 deg,
      new cmd heading: 289.246061 deg.

2025-08-21T06:50:13.158Z,1755759013.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.048296 target range: 9.149671 and range: 7.10 m.
2025-08-21T06:50:13.221Z,1755759013.221 [DAT](INFO): DAT read: 06:50:11.3391 LVL= 32752, 23265, 22562, 32755, AGC= 47, IDX= 444, 0.47, 2.313,-1.845,-2.537,-2.262, PHS=-1.606, 0.463,-0.319, RAW= 292.0,  15.9, CAL= 290.1,  22.9, ROT= 219.9, -22.9

2025-08-21T06:50:13.223Z,1755759013.223 [DAT](INFO): got valid direction response:
 06:50:11.3391 LVL= 32752, 23265, 22562, 32755, AGC= 47, IDX= 444, 0.47, 2.313,-1.845,-2.537,-2.262, PHS=-1.606, 0.463,-0.319, RAW= 292.0,  15.9, CAL= 290.1,  22.9, ROT= 219.9, -22.9

2025-08-21T06:50:13.225Z,1755759013.225 [DAT](INFO): DAT read: Bearing   8.6, -37.2 (Local)

2025-08-21T06:50:13.225Z,1755759013.225 [DAT](INFO): Local bearing/azimuth received:
 Bearing   8.6, -37.2 (Local)

2025-08-21T06:50:13.228Z,1755759013.228 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m  (Round-trip  10.9 ms) speed -0.3 m/s

2025-08-21T06:50:13.229Z,1755759013.229 [DAT](INFO): DAT read: user:1948>

2025-08-21T06:50:13.231Z,1755759013.231 [DAT](INFO): DAT read: Tx time:06:50:12.4741

2025-08-21T06:50:13.231Z,1755759013.231 [DAT](INFO): Ping request sent.
2025-08-21T06:50:13.231Z,1755759013.231 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:13.232Z,1755759013.232 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:50:13.233Z,1755759013.233 [DAT](INFO): direction in FSK: [-0.706701,-0.590894,0.389124]
2025-08-21T06:50:13.234Z,1755759013.234 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:13.234Z,1755759013.234 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:13.250Z,1755759013.250 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:13.250Z,1755759013.250 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:13.542Z,1755759013.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.100000 m,
      deltaT: 3.527448 s,
      deltaX: 1.000000 m,
      approachRate: 0.283491 m/s,
      rangeRepo size: 4

2025-08-21T06:50:13.544Z,1755759013.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.055560 m,
      bearing: 270.500585 deg,
      lat: 36.779377 deg,
      lon: -121.859442 deg,
      deltaT: 38.820903 s,
      deltaX: -1.094110 m,
      approachRate: -0.028184 m/s,
      posRepo size: 4

2025-08-21T06:50:13.545Z,1755759013.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 8.10 m. Rolling out.
2025-08-21T06:50:13.545Z,1755759013.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-08-21T06:50:13.562Z,1755759013.562 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T06:50:13.931Z,1755759013.931 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-08-21T06:50:13.931Z,1755759013.931 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-21T06:50:13.932Z,1755759013.932 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-08-21T06:50:13.933Z,1755759013.933 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 8.100000 m (mode  5.000000 count ).
2025-08-21T06:50:13.933Z,1755759013.933 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-08-21T06:50:13.933Z,1755759013.933 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-08-21T06:50:13.934Z,1755759013.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:50:13.936Z,1755759013.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.06 m.
2025-08-21T06:50:13.938Z,1755759013.938 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-21T06:50:13.938Z,1755759013.938 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-21T06:50:13.939Z,1755759013.939 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-21T06:50:13.939Z,1755759013.939 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-21T06:50:13.969Z,1755759013.969 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:50:13.969Z,1755759013.969 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:50:13.970Z,1755759013.970 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:50:14.220Z,1755759014.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989111
2025-08-21T06:50:14.361Z,1755759014.361 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-08-21T06:50:14.361Z,1755759014.361 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-08-21T06:50:14.364Z,1755759014.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.06 m.
2025-08-21T06:50:14.473Z,1755759014.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241987
2025-08-21T06:50:14.728Z,1755759014.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495667
2025-08-21T06:50:14.822Z,1755759014.822 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-08-21T06:50:14.822Z,1755759014.822 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-08-21T06:50:14.826Z,1755759014.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.06 m.
2025-08-21T06:50:14.977Z,1755759014.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746097
2025-08-21T06:50:15.223Z,1755759015.223 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-08-21T06:50:15.224Z,1755759015.224 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-21T06:50:15.224Z,1755759015.224 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-08-21T06:50:15.224Z,1755759015.224 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-21T06:50:15.226Z,1755759015.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.06 m.
2025-08-21T06:50:15.228Z,1755759015.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997230
2025-08-21T06:50:15.481Z,1755759015.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249633
2025-08-21T06:50:15.644Z,1755759015.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.06 m.
2025-08-21T06:50:15.736Z,1755759015.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503363
2025-08-21T06:50:15.985Z,1755759015.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753702
2025-08-21T06:50:16.111Z,1755759016.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.06 m.
2025-08-21T06:50:16.236Z,1755759016.236 [DAT](INFO): DAT read: Rx Time:06:50:14.8905

2025-08-21T06:50:16.237Z,1755759016.237 [DAT](INFO): Rx dataTimestamp_ set to:1755759016.236570
2025-08-21T06:50:16.237Z,1755759016.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006296
2025-08-21T06:50:16.488Z,1755759016.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257194
2025-08-21T06:50:16.504Z,1755759016.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.06 m.
2025-08-21T06:50:16.755Z,1755759016.755 [DAT](INFO): DAT read: 06:50:14.8905 LVL= 32752, 22881, 24306, 32755, AGC= 47, IDX= 443,-0.43,-2.447,-0.323,-1.137,-0.778, PHS=-1.567, 0.500,-0.403, RAW= 295.8,  16.2, CAL= 293.9,  22.9, ROT= 216.1, -22.9

2025-08-21T06:50:16.760Z,1755759016.760 [DAT](INFO): got valid direction response:
 06:50:14.8905 LVL= 32752, 22881, 24306, 32755, AGC= 47, IDX= 443,-0.43,-2.447,-0.323,-1.137,-0.778, PHS=-1.567, 0.500,-0.403, RAW= 295.8,  16.2, CAL= 293.9,  22.9, ROT= 216.1, -22.9

2025-08-21T06:50:16.762Z,1755759016.762 [DAT](INFO): DAT read: Bearing   0.5, -33.7 (Local)

2025-08-21T06:50:16.763Z,1755759016.763 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5, -33.7 (Local)

2025-08-21T06:50:16.812Z,1755759016.812 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m  (Round-trip  12.3 ms) speed -0.3 m/s

2025-08-21T06:50:16.812Z,1755759016.812 [DAT](INFO): DAT read: user:1949>

2025-08-21T06:50:16.813Z,1755759016.813 [DAT](INFO): DAT read: Tx time:06:50:16.0241

2025-08-21T06:50:16.814Z,1755759016.814 [DAT](INFO): Ping request sent.
2025-08-21T06:50:16.814Z,1755759016.814 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:16.814Z,1755759016.814 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:50:16.832Z,1755759016.832 [DAT](INFO): direction in FSK: [-0.744308,-0.542759,0.389124]
2025-08-21T06:50:16.832Z,1755759016.832 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:16.832Z,1755759016.832 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:16.864Z,1755759016.864 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:16.864Z,1755759016.864 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:16.991Z,1755759016.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.200000 m,
      deltaT: 3.527398 s,
      deltaX: 1.099999 m,
      approachRate: 0.311844 m/s,
      rangeRepo size: 4

2025-08-21T06:50:17.001Z,1755759017.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.149562 m,
      bearing: 258.955927 deg,
      lat: 36.779376 deg,
      lon: -121.859442 deg,
      deltaT: 3.527398 s,
      deltaX: 1.094002 m,
      approachRate: 0.310144 m/s,
      posRepo size: 4

2025-08-21T06:50:17.001Z,1755759017.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-08-21T06:50:17.289Z,1755759017.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-08-21T06:50:17.723Z,1755759017.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-08-21T06:50:18.149Z,1755759018.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-08-21T06:50:18.512Z,1755759018.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-08-21T06:50:18.928Z,1755759018.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-08-21T06:50:19.335Z,1755759019.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-08-21T06:50:19.740Z,1755759019.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-08-21T06:50:19.765Z,1755759019.765 [DAT](INFO): DAT read: Rx Time:06:50:18.4416

2025-08-21T06:50:19.765Z,1755759019.765 [DAT](INFO): Rx dataTimestamp_ set to:1755759019.764998
2025-08-21T06:50:20.222Z,1755759020.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m.
2025-08-21T06:50:20.274Z,1755759020.274 [DAT](INFO): DAT read: 06:50:18.4415 LVL= 32752, 22737, 25154, 32755, AGC= 48, IDX= 438,-0.38,-0.905, 1.223, 0.406, 0.757, PHS=-1.560, 0.511,-0.395, RAW= 295.9,  15.9, CAL= 293.8,  22.6, ROT= 216.2, -22.6

2025-08-21T06:50:20.275Z,1755759020.275 [DAT](INFO): got valid direction response:
 06:50:18.4415 LVL= 32752, 22737, 25154, 32755, AGC= 48, IDX= 438,-0.38,-0.905, 1.223, 0.406, 0.757, PHS=-1.560, 0.511,-0.395, RAW= 295.9,  15.9, CAL= 293.8,  22.6, ROT= 216.2, -22.6

2025-08-21T06:50:20.276Z,1755759020.276 [DAT](INFO): DAT read: Bearing 352.5, -32.3 (Local)

2025-08-21T06:50:20.277Z,1755759020.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.5, -32.3 (Local)

2025-08-21T06:50:20.278Z,1755759020.278 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m  (Round-trip  13.3 ms) speed -0.2 m/s

2025-08-21T06:50:20.279Z,1755759020.279 [DAT](INFO): DAT read: user:1950>

2025-08-21T06:50:20.288Z,1755759020.288 [DAT](INFO): DAT read: Tx time:06:50:19.5740

2025-08-21T06:50:20.289Z,1755759020.289 [DAT](INFO): Ping request sent.
2025-08-21T06:50:20.289Z,1755759020.289 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:20.289Z,1755759020.289 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-21T06:50:20.290Z,1755759020.290 [DAT](INFO): direction in FSK: [-0.744994,-0.545253,0.384295]
2025-08-21T06:50:20.290Z,1755759020.290 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:20.291Z,1755759020.291 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:20.298Z,1755759020.298 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:20.298Z,1755759020.298 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:20.634Z,1755759020.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 3.527774 s,
      deltaX: 0.700000 m,
      approachRate: 0.198425 m/s,
      rangeRepo size: 4

2025-08-21T06:50:20.641Z,1755759020.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.845696 m,
      bearing: 251.474255 deg,
      lat: 36.779375 deg,
      lon: -121.859442 deg,
      deltaT: 3.527774 s,
      deltaX: 0.696135 m,
      approachRate: 0.197330 m/s,
      posRepo size: 4

2025-08-21T06:50:20.641Z,1755759020.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m.
2025-08-21T06:50:21.089Z,1755759021.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m.
2025-08-21T06:50:21.453Z,1755759021.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m.
2025-08-21T06:50:21.919Z,1755759021.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m.
2025-08-21T06:50:22.334Z,1755759022.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m.
2025-08-21T06:50:22.794Z,1755759022.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m.
2025-08-21T06:50:23.186Z,1755759023.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m.
2025-08-21T06:50:23.292Z,1755759023.292 [DAT](INFO): DAT read: Rx Time:06:50:21.9923

2025-08-21T06:50:23.293Z,1755759023.293 [DAT](INFO): Rx dataTimestamp_ set to:1755759023.292689
2025-08-21T06:50:23.544Z,1755759023.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m.
2025-08-21T06:50:23.802Z,1755759023.802 [DAT](INFO): DAT read: 06:50:21.9923 LVL= 32752, 26513, 20594, 32755, AGC= 49, IDX= 431,-0.40,-2.195,-0.077,-0.936,-0.583, PHS=-1.510, 0.550,-0.397, RAW= 297.3,  15.0, CAL= 295.1,  21.7, ROT= 214.9, -21.7

2025-08-21T06:50:23.803Z,1755759023.803 [DAT](INFO): got valid direction response:
 06:50:21.9923 LVL= 32752, 26513, 20594, 32755, AGC= 49, IDX= 431,-0.40,-2.195,-0.077,-0.936,-0.583, PHS=-1.510, 0.550,-0.397, RAW= 297.3,  15.0, CAL= 295.1,  21.7, ROT= 214.9, -21.7

2025-08-21T06:50:23.804Z,1755759023.804 [DAT](INFO): DAT read: Bearing 347.1, -30.2 (Local)

2025-08-21T06:50:23.804Z,1755759023.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.1, -30.2 (Local)

2025-08-21T06:50:23.806Z,1755759023.806 [DAT](INFO): DAT read: Range 11 to 50 : 10.6 m  (Round-trip  14.2 ms) speed -0.1 m/s

2025-08-21T06:50:23.806Z,1755759023.806 [DAT](INFO): DAT read: user:1951>

2025-08-21T06:50:23.807Z,1755759023.807 [DAT](INFO): DAT read: Tx time:06:50:23.1240

2025-08-21T06:50:23.808Z,1755759023.808 [DAT](INFO): Ping request sent.
2025-08-21T06:50:23.808Z,1755759023.808 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:23.808Z,1755759023.808 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-21T06:50:23.809Z,1755759023.809 [DAT](INFO): direction in FSK: [-0.762030,-0.531599,0.369747]
2025-08-21T06:50:23.809Z,1755759023.809 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:23.809Z,1755759023.809 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:23.813Z,1755759023.813 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:23.813Z,1755759023.813 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:24.049Z,1755759024.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.600000 m,
      deltaT: 3.527968 s,
      deltaX: 0.700001 m,
      approachRate: 0.198415 m/s,
      rangeRepo size: 4

2025-08-21T06:50:24.055Z,1755759024.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.541873 m,
      bearing: 245.555960 deg,
      lat: 36.779375 deg,
      lon: -121.859441 deg,
      deltaT: 3.527968 s,
      deltaX: 0.696177 m,
      approachRate: 0.197331 m/s,
      posRepo size: 4

2025-08-21T06:50:24.056Z,1755759024.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.54 m.
2025-08-21T06:50:24.333Z,1755759024.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.54 m.
2025-08-21T06:50:24.743Z,1755759024.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.54 m.
2025-08-21T06:50:25.196Z,1755759025.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.54 m.
2025-08-21T06:50:25.560Z,1755759025.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.54 m.
2025-08-21T06:50:25.991Z,1755759025.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.54 m.
2025-08-21T06:50:26.351Z,1755759026.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.54 m.
2025-08-21T06:50:26.766Z,1755759026.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.54 m.
2025-08-21T06:50:26.821Z,1755759026.821 [DAT](INFO): DAT read: Rx Time:06:50:25.5430

2025-08-21T06:50:26.822Z,1755759026.822 [DAT](INFO): Rx dataTimestamp_ set to:1755759026.821734
2025-08-21T06:50:27.199Z,1755759027.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.54 m.
2025-08-21T06:50:27.331Z,1755759027.331 [DAT](INFO): DAT read: 06:50:25.5430 LVL= 32752, 24641, 24130, 32755, AGC= 48, IDX= 437,-0.12, 0.679, 2.830, 1.955, 2.304, PHS=-1.523, 0.572,-0.393, RAW= 297.4,  14.7, CAL= 295.0,  21.3, ROT= 215.0, -21.3

2025-08-21T06:50:27.332Z,1755759027.332 [DAT](INFO): got valid direction response:
 06:50:25.5430 LVL= 32752, 24641, 24130, 32755, AGC= 48, IDX= 437,-0.12, 0.679, 2.830, 1.955, 2.304, PHS=-1.523, 0.572,-0.393, RAW= 297.4,  14.7, CAL= 295.0,  21.3, ROT= 215.0, -21.3

2025-08-21T06:50:27.333Z,1755759027.333 [DAT](INFO): DAT read: Bearing 341.4, -29.1 (Local)

2025-08-21T06:50:27.334Z,1755759027.334 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.4, -29.1 (Local)

2025-08-21T06:50:27.335Z,1755759027.335 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m  (Round-trip  14.9 ms) speed -0.1 m/s

2025-08-21T06:50:27.336Z,1755759027.336 [DAT](INFO): DAT read: user:1952>

2025-08-21T06:50:27.337Z,1755759027.337 [DAT](INFO): DAT read: Tx time:06:50:26.6740

2025-08-21T06:50:27.337Z,1755759027.337 [DAT](INFO): Ping request sent.
2025-08-21T06:50:27.337Z,1755759027.337 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:27.337Z,1755759027.337 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-21T06:50:27.338Z,1755759027.338 [DAT](INFO): direction in FSK: [-0.763197,-0.534396,0.363251]
2025-08-21T06:50:27.338Z,1755759027.338 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:27.339Z,1755759027.339 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:27.342Z,1755759027.342 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:27.342Z,1755759027.342 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:27.589Z,1755759027.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.100000 m,
      deltaT: 3.528171 s,
      deltaX: 0.500000 m,
      approachRate: 0.141716 m/s,
      rangeRepo size: 4

2025-08-21T06:50:27.591Z,1755759027.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.039105 m,
      bearing: 239.651122 deg,
      lat: 36.779374 deg,
      lon: -121.859441 deg,
      deltaT: 3.528171 s,
      deltaX: 0.497232 m,
      approachRate: 0.140932 m/s,
      posRepo size: 4

2025-08-21T06:50:27.591Z,1755759027.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-08-21T06:50:28.010Z,1755759028.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-08-21T06:50:28.376Z,1755759028.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-08-21T06:50:28.782Z,1755759028.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-08-21T06:50:29.225Z,1755759029.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-08-21T06:50:29.584Z,1755759029.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-08-21T06:50:30.039Z,1755759030.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-08-21T06:50:30.348Z,1755759030.348 [DAT](INFO): DAT read: Rx Time:06:50:29.0935

2025-08-21T06:50:30.349Z,1755759030.349 [DAT](INFO): Rx dataTimestamp_ set to:1755759030.348463
2025-08-21T06:50:30.434Z,1755759030.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-08-21T06:50:30.834Z,1755759030.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m.
2025-08-21T06:50:30.859Z,1755759030.859 [DAT](INFO): DAT read: 06:50:29.0935 LVL= 32752, 24209, 28242, 32755, AGC= 45, IDX= 426, 0.34, 2.001,-2.112,-2.896,-2.618, PHS=-1.562, 0.551,-0.322, RAW= 294.3,  14.4, CAL= 291.8,  21.3, ROT= 218.2, -21.3

2025-08-21T06:50:30.860Z,1755759030.860 [DAT](INFO): got valid direction response:
 06:50:29.0935 LVL= 32752, 24209, 28242, 32755, AGC= 45, IDX= 426, 0.34, 2.001,-2.112,-2.896,-2.618, PHS=-1.562, 0.551,-0.322, RAW= 294.3,  14.4, CAL= 291.8,  21.3, ROT= 218.2, -21.3

2025-08-21T06:50:30.861Z,1755759030.861 [DAT](INFO): DAT read: Bearing 334.8, -30.9 (Local)

2025-08-21T06:50:30.862Z,1755759030.862 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.8, -30.9 (Local)

2025-08-21T06:50:30.880Z,1755759030.880 [DAT](INFO): DAT read: Range 11 to 50 : 11.5 m  (Round-trip  15.4 ms) speed  0.0 m/s

2025-08-21T06:50:30.881Z,1755759030.881 [DAT](INFO): DAT read: user:1953>

2025-08-21T06:50:30.882Z,1755759030.882 [DAT](INFO): DAT read: Tx time:06:50:30.2240

2025-08-21T06:50:30.882Z,1755759030.882 [DAT](INFO): Ping request sent.
2025-08-21T06:50:30.882Z,1755759030.882 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:30.883Z,1755759030.883 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-21T06:50:30.885Z,1755759030.885 [DAT](INFO): direction in FSK: [-0.732176,-0.576166,0.363251]
2025-08-21T06:50:30.886Z,1755759030.886 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:30.886Z,1755759030.886 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:30.891Z,1755759030.891 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:30.903Z,1755759030.903 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:31.244Z,1755759031.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.500000 m,
      deltaT: 3.529085 s,
      deltaX: 0.400000 m,
      approachRate: 0.113344 m/s,
      rangeRepo size: 4

2025-08-21T06:50:31.246Z,1755759031.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.436941 m,
      bearing: 238.222159 deg,
      lat: 36.779374 deg,
      lon: -121.859441 deg,
      deltaT: 3.529085 s,
      deltaX: 0.397836 m,
      approachRate: 0.112731 m/s,
      posRepo size: 4

2025-08-21T06:50:31.247Z,1755759031.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.44 m.
2025-08-21T06:50:31.624Z,1755759031.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.44 m.
2025-08-21T06:50:32.075Z,1755759032.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.44 m.
2025-08-21T06:50:32.438Z,1755759032.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.44 m.
2025-08-21T06:50:32.824Z,1755759032.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.44 m.
2025-08-21T06:50:33.244Z,1755759033.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.44 m.
2025-08-21T06:50:33.640Z,1755759033.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.44 m.
2025-08-21T06:50:33.879Z,1755759033.879 [DAT](INFO): DAT read: Rx Time:06:50:32.6439

2025-08-21T06:50:33.879Z,1755759033.879 [DAT](INFO): Rx dataTimestamp_ set to:1755759033.878731
2025-08-21T06:50:34.111Z,1755759034.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.44 m.
2025-08-21T06:50:34.390Z,1755759034.390 [DAT](INFO): DAT read: 06:50:32.6439 LVL= 32752, 24385, 22754, 32755, AGC= 47, IDX= 446,-0.15,-1.160, 1.023, 0.184, 0.490, PHS=-1.549, 0.578,-0.350, RAW= 295.8,  14.2, CAL= 293.3,  21.0, ROT= 216.7, -21.0

2025-08-21T06:50:34.391Z,1755759034.391 [DAT](INFO): got valid direction response:
 06:50:32.6439 LVL= 32752, 24385, 22754, 32755, AGC= 47, IDX= 446,-0.15,-1.160, 1.023, 0.184, 0.490, PHS=-1.549, 0.578,-0.350, RAW= 295.8,  14.2, CAL= 293.3,  21.0, ROT= 216.7, -21.0

2025-08-21T06:50:34.392Z,1755759034.392 [DAT](INFO): DAT read: Bearing 331.4, -29.1 (Local)

2025-08-21T06:50:34.392Z,1755759034.392 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.4, -29.1 (Local)

2025-08-21T06:50:34.394Z,1755759034.394 [DAT](INFO): DAT read: Range 11 to 50 : 11.8 m  (Round-trip  15.8 ms) speed  0.0 m/s

2025-08-21T06:50:34.394Z,1755759034.394 [DAT](INFO): DAT read: user:1954>

2025-08-21T06:50:34.395Z,1755759034.395 [DAT](INFO): DAT read: Tx time:06:50:33.7740

2025-08-21T06:50:34.396Z,1755759034.396 [DAT](INFO): Ping request sent.
2025-08-21T06:50:34.396Z,1755759034.396 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:34.396Z,1755759034.396 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-21T06:50:34.397Z,1755759034.397 [DAT](INFO): direction in FSK: [-0.748522,-0.557931,0.358368]
2025-08-21T06:50:34.397Z,1755759034.397 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:34.397Z,1755759034.397 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:34.426Z,1755759034.426 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:34.427Z,1755759034.427 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:34.503Z,1755759034.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.800000 m,
      deltaT: 3.530740 s,
      deltaX: 0.300000 m,
      approachRate: 0.084968 m/s,
      rangeRepo size: 4

2025-08-21T06:50:34.505Z,1755759034.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.735344 m,
      bearing: 233.268615 deg,
      lat: 36.779374 deg,
      lon: -121.859441 deg,
      deltaT: 3.530740 s,
      deltaX: 0.298403 m,
      approachRate: 0.084516 m/s,
      posRepo size: 4

2025-08-21T06:50:34.506Z,1755759034.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.74 m.
2025-08-21T06:50:34.835Z,1755759034.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.74 m.
2025-08-21T06:50:35.057Z,1755759035.057 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:50:35.283Z,1755759035.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.74 m.
2025-08-21T06:50:35.648Z,1755759035.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.74 m.
2025-08-21T06:50:36.061Z,1755759036.061 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:50:36.132Z,1755759036.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.74 m.
2025-08-21T06:50:36.527Z,1755759036.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.74 m.
2025-08-21T06:50:36.954Z,1755759036.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.74 m.
2025-08-21T06:50:37.365Z,1755759037.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.74 m.
2025-08-21T06:50:37.409Z,1755759037.409 [DAT](INFO): DAT read: Rx Time:06:50:36.1941

2025-08-21T06:50:37.410Z,1755759037.410 [DAT](INFO): Rx dataTimestamp_ set to:1755759037.409813
2025-08-21T06:50:37.738Z,1755759037.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.74 m.
2025-08-21T06:50:37.930Z,1755759037.930 [DAT](INFO): DAT read: 06:50:36.1941 LVL= 32752, 24561, 23458, 32755, AGC= 50, IDX= 448, 0.07,-0.124, 2.061, 1.215, 1.502, PHS=-1.524, 0.605,-0.331, RAW= 296.0,  13.5, CAL= 293.3,  20.3, ROT= 216.7, -20.3

2025-08-21T06:50:37.931Z,1755759037.931 [DAT](INFO): got valid direction response:
 06:50:36.1941 LVL= 32752, 24561, 23458, 32755, AGC= 50, IDX= 448, 0.07,-0.124, 2.061, 1.215, 1.502, PHS=-1.524, 0.605,-0.331, RAW= 296.0,  13.5, CAL= 293.3,  20.3, ROT= 216.7, -20.3

2025-08-21T06:50:37.932Z,1755759037.932 [DAT](INFO): DAT read: Bearing 328.4, -29.0 (Local)

2025-08-21T06:50:37.932Z,1755759037.932 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.4, -29.0 (Local)

2025-08-21T06:50:37.934Z,1755759037.934 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m  (Round-trip  16.0 ms) speed  0.0 m/s

2025-08-21T06:50:37.939Z,1755759037.939 [DAT](INFO): DAT read: user:1955>

2025-08-21T06:50:37.941Z,1755759037.941 [DAT](INFO): DAT read: Tx time:06:50:37.3240

2025-08-21T06:50:37.941Z,1755759037.941 [DAT](INFO): Ping request sent.
2025-08-21T06:50:37.941Z,1755759037.941 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:37.941Z,1755759037.941 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-21T06:50:37.942Z,1755759037.942 [DAT](INFO): direction in FSK: [-0.751977,-0.560506,0.346936]
2025-08-21T06:50:37.942Z,1755759037.942 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:37.943Z,1755759037.943 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:37.954Z,1755759037.954 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:37.954Z,1755759037.954 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:38.241Z,1755759038.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 3.528808 s,
      deltaX: 0.200000 m,
      approachRate: 0.056676 m/s,
      rangeRepo size: 4

2025-08-21T06:50:38.251Z,1755759038.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.934313 m,
      bearing: 229.203295 deg,
      lat: 36.779375 deg,
      lon: -121.859443 deg,
      deltaT: 3.528808 s,
      deltaX: 0.198969 m,
      approachRate: 0.056384 m/s,
      posRepo size: 4

2025-08-21T06:50:38.256Z,1755759038.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T06:50:38.539Z,1755759038.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T06:50:38.954Z,1755759038.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T06:50:39.376Z,1755759039.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T06:50:39.755Z,1755759039.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T06:50:40.211Z,1755759040.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T06:50:40.565Z,1755759040.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T06:50:40.937Z,1755759040.937 [DAT](INFO): DAT read: Rx Time:06:50:39.7443

2025-08-21T06:50:40.937Z,1755759040.937 [DAT](INFO): Rx dataTimestamp_ set to:1755759040.936834
2025-08-21T06:50:40.956Z,1755759040.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T06:50:41.377Z,1755759041.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T06:50:41.458Z,1755759041.458 [DAT](INFO): DAT read: 06:50:39.7443 LVL= 32752, 24241, 23570, 32755, AGC= 49, IDX= 450, 0.05, 1.039,-3.050, 2.369, 2.663, PHS=-1.522, 0.616,-0.338, RAW= 296.5,  13.3, CAL= 293.7,  20.1, ROT= 216.3, -20.1

2025-08-21T06:50:41.477Z,1755759041.477 [DAT](INFO): got valid direction response:
 06:50:39.7443 LVL= 32752, 24241, 23570, 32755, AGC= 49, IDX= 450, 0.05, 1.039,-3.050, 2.369, 2.663, PHS=-1.522, 0.616,-0.338, RAW= 296.5,  13.3, CAL= 293.7,  20.1, ROT= 216.3, -20.1

2025-08-21T06:50:41.478Z,1755759041.478 [DAT](INFO): DAT read: Bearing 325.0, -28.6 (Local)

2025-08-21T06:50:41.478Z,1755759041.478 [DAT](INFO): Local bearing/azimuth received:
 Bearing 325.0, -28.6 (Local)

2025-08-21T06:50:41.484Z,1755759041.484 [DAT](INFO): DAT read: Range 11 to 50 : 12.1 m  (Round-trip  16.2 ms) speed  0.0 m/s

2025-08-21T06:50:41.485Z,1755759041.485 [DAT](INFO): DAT read: user:1956>

2025-08-21T06:50:41.487Z,1755759041.487 [DAT](INFO): DAT read: Tx time:06:50:40.8740

2025-08-21T06:50:41.487Z,1755759041.487 [DAT](INFO): Ping request sent.
2025-08-21T06:50:41.487Z,1755759041.487 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:41.488Z,1755759041.488 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-21T06:50:41.490Z,1755759041.490 [DAT](INFO): direction in FSK: [-0.756843,-0.555956,0.343660]
2025-08-21T06:50:41.490Z,1755759041.490 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:41.490Z,1755759041.490 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:41.515Z,1755759041.515 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:41.516Z,1755759041.516 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:41.790Z,1755759041.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.100000 m,
      deltaT: 3.528952 s,
      deltaX: 0.100000 m,
      approachRate: 0.028337 m/s,
      rangeRepo size: 4

2025-08-21T06:50:41.792Z,1755759041.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.033751 m,
      bearing: 225.164555 deg,
      lat: 36.779375 deg,
      lon: -121.859443 deg,
      deltaT: 3.528952 s,
      deltaX: 0.099438 m,
      approachRate: 0.028178 m/s,
      posRepo size: 4

2025-08-21T06:50:41.792Z,1755759041.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-21T06:50:42.259Z,1755759042.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-21T06:50:42.584Z,1755759042.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-21T06:50:42.988Z,1755759042.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-21T06:50:43.421Z,1755759043.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-21T06:50:43.783Z,1755759043.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-21T06:50:44.247Z,1755759044.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-21T06:50:44.464Z,1755759044.464 [DAT](INFO): DAT read: Rx Time:06:50:43.2944

2025-08-21T06:50:44.465Z,1755759044.465 [DAT](INFO): Rx dataTimestamp_ set to:1755759044.464462
2025-08-21T06:50:44.605Z,1755759044.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-21T06:50:45.034Z,1755759045.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.03 m.
2025-08-21T06:50:45.234Z,1755759045.234 [DAT](INFO): DAT read: 06:50:43.2944 LVL= 32752, 24449, 23634, 32755, AGC= 50, IDX= 436, 0.33,-0.008, 2.173, 1.304, 1.592, PHS=-1.498, 0.626,-0.332, RAW= 296.8,  13.0, CAL= 294.0,  19.5, ROT= 216.0, -19.5

2025-08-21T06:50:45.235Z,1755759045.235 [DAT](INFO): got valid direction response:
 06:50:43.2944 LVL= 32752, 24449, 23634, 32755, AGC= 50, IDX= 436, 0.33,-0.008, 2.173, 1.304, 1.592, PHS=-1.498, 0.626,-0.332, RAW= 296.8,  13.0, CAL= 294.0,  19.5, ROT= 216.0, -19.5

2025-08-21T06:50:45.242Z,1755759045.242 [DAT](INFO): DAT read: Bearing 322.1, -28.6 (Local)

2025-08-21T06:50:45.242Z,1755759045.242 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.1, -28.6 (Local)

2025-08-21T06:50:45.244Z,1755759045.244 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m  (Round-trip  16.4 ms) speed  0.0 m/s

2025-08-21T06:50:45.245Z,1755759045.245 [DAT](INFO): DAT read: user:1957>

2025-08-21T06:50:45.246Z,1755759045.246 [DAT](INFO): DAT read: Tx time:06:50:44.4239

2025-08-21T06:50:45.246Z,1755759045.246 [DAT](INFO): Ping request sent.
2025-08-21T06:50:45.246Z,1755759045.246 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:45.246Z,1755759045.246 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-21T06:50:45.247Z,1755759045.247 [DAT](INFO): direction in FSK: [-0.762613,-0.554071,0.333807]
2025-08-21T06:50:45.248Z,1755759045.248 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:45.248Z,1755759045.248 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:45.251Z,1755759045.251 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:45.251Z,1755759045.251 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:45.475Z,1755759045.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.300000 m,
      deltaT: 3.779804 s,
      deltaX: 0.200000 m,
      approachRate: 0.052913 m/s,
      rangeRepo size: 4

2025-08-21T06:50:45.481Z,1755759045.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.232640 m,
      bearing: 221.570930 deg,
      lat: 36.779375 deg,
      lon: -121.859444 deg,
      deltaT: 3.779804 s,
      deltaX: 0.198890 m,
      approachRate: 0.052619 m/s,
      posRepo size: 4

2025-08-21T06:50:45.482Z,1755759045.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-08-21T06:50:45.798Z,1755759045.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-08-21T06:50:46.280Z,1755759046.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-08-21T06:50:46.603Z,1755759046.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-08-21T06:50:47.009Z,1755759047.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-08-21T06:50:47.460Z,1755759047.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-08-21T06:50:47.831Z,1755759047.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-08-21T06:50:47.993Z,1755759047.993 [DAT](INFO): DAT read: Rx Time:06:50:46.8446

2025-08-21T06:50:47.994Z,1755759047.994 [DAT](INFO): Rx dataTimestamp_ set to:1755759047.993520
2025-08-21T06:50:48.349Z,1755759048.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-08-21T06:50:48.660Z,1755759048.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m.
2025-08-21T06:50:48.754Z,1755759048.754 [DAT](INFO): DAT read: 06:50:46.8446 LVL= 32752, 25889, 20450, 32755, AGC= 49, IDX= 438,-0.02,-0.647, 1.542, 0.648, 0.935, PHS=-1.480, 0.653,-0.331, RAW= 297.4,  12.5, CAL= 294.7,  18.2, ROT= 215.3, -18.2

2025-08-21T06:50:48.757Z,1755759048.757 [DAT](INFO): got valid direction response:
 06:50:46.8446 LVL= 32752, 25889, 20450, 32755, AGC= 49, IDX= 438,-0.02,-0.647, 1.542, 0.648, 0.935, PHS=-1.480, 0.653,-0.331, RAW= 297.4,  12.5, CAL= 294.7,  18.2, ROT= 215.3, -18.2

2025-08-21T06:50:48.758Z,1755759048.758 [DAT](INFO): DAT read: Bearing 320.4, -28.6 (Local)

2025-08-21T06:50:48.759Z,1755759048.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.4, -28.6 (Local)

2025-08-21T06:50:48.761Z,1755759048.761 [DAT](INFO): DAT read: Range 11 to 50 : 12.4 m  (Round-trip  16.6 ms) speed  0.0 m/s

2025-08-21T06:50:48.762Z,1755759048.762 [DAT](INFO): DAT read: user:1958>

2025-08-21T06:50:48.763Z,1755759048.763 [DAT](INFO): DAT read: Tx time:06:50:47.9739

2025-08-21T06:50:48.766Z,1755759048.766 [DAT](INFO): Ping request sent.
2025-08-21T06:50:48.766Z,1755759048.766 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:48.766Z,1755759048.766 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-21T06:50:48.772Z,1755759048.772 [DAT](INFO): direction in FSK: [-0.775308,-0.548949,0.312335]
2025-08-21T06:50:48.772Z,1755759048.772 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:48.772Z,1755759048.772 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:48.775Z,1755759048.775 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:48.776Z,1755759048.776 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:49.064Z,1755759049.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.400000 m,
      deltaT: 3.526437 s,
      deltaX: 0.099999 m,
      approachRate: 0.028357 m/s,
      rangeRepo size: 4

2025-08-21T06:50:49.066Z,1755759049.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.332076 m,
      bearing: 217.545056 deg,
      lat: 36.779375 deg,
      lon: -121.859444 deg,
      deltaT: 3.526437 s,
      deltaX: 0.099436 m,
      approachRate: 0.028197 m/s,
      posRepo size: 4

2025-08-21T06:50:49.067Z,1755759049.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:49.474Z,1755759049.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:49.879Z,1755759049.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:50.348Z,1755759050.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:50.679Z,1755759050.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:51.091Z,1755759051.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:51.514Z,1755759051.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:51.772Z,1755759051.772 [DAT](INFO): DAT read: Rx Time:06:50:50.3947

2025-08-21T06:50:51.773Z,1755759051.773 [DAT](INFO): Rx dataTimestamp_ set to:1755759051.772424
2025-08-21T06:50:51.896Z,1755759051.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:52.302Z,1755759052.302 [DAT](INFO): DAT read: 06:50:50.3947 LVL= 32752, 23873, 21778, 32131, AGC= 50, IDX= 439, 0.38,-0.001, 2.212, 1.313, 1.586, PHS=-1.485, 0.671,-0.317, RAW= 297.3,  12.1, CAL= 294.6,  17.3, ROT= 215.4, -17.3

2025-08-21T06:50:52.306Z,1755759052.306 [DAT](INFO): got valid direction response:
 06:50:50.3947 LVL= 32752, 23873, 21778, 32131, AGC= 50, IDX= 439, 0.38,-0.001, 2.212, 1.313, 1.586, PHS=-1.485, 0.671,-0.317, RAW= 297.3,  12.1, CAL= 294.6,  17.3, ROT= 215.4, -17.3

2025-08-21T06:50:52.313Z,1755759052.313 [DAT](INFO): DAT read: Bearing 318.1, -29.0 (Local)

2025-08-21T06:50:52.314Z,1755759052.314 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.1, -29.0 (Local)

2025-08-21T06:50:52.319Z,1755759052.319 [DAT](INFO): DAT read: Range 11 to 50 : 12.4 m  (Round-trip  16.6 ms) speed  0.0 m/s

2025-08-21T06:50:52.320Z,1755759052.320 [DAT](INFO): DAT read: user:1959>

2025-08-21T06:50:52.321Z,1755759052.321 [DAT](INFO): DAT read: Tx time:06:50:51.5239

2025-08-21T06:50:52.321Z,1755759052.321 [DAT](INFO): Ping request sent.
2025-08-21T06:50:52.321Z,1755759052.321 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:52.321Z,1755759052.321 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-21T06:50:52.322Z,1755759052.322 [DAT](INFO): direction in FSK: [-0.778252,-0.553075,0.297375]
2025-08-21T06:50:52.323Z,1755759052.323 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:52.323Z,1755759052.323 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:52.326Z,1755759052.326 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:52.326Z,1755759052.326 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:52.459Z,1755759052.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.400000 m,
      deltaT: 3.529939 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T06:50:52.465Z,1755759052.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.332072 m,
      bearing: 215.472308 deg,
      lat: 36.779375 deg,
      lon: -121.859444 deg,
      deltaT: 3.529939 s,
      deltaX: -0.000004 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-08-21T06:50:52.466Z,1755759052.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:52.737Z,1755759052.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:53.137Z,1755759053.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:53.565Z,1755759053.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:53.940Z,1755759053.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:54.413Z,1755759054.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:54.902Z,1755759054.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:55.235Z,1755759055.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:55.303Z,1755759055.303 [DAT](INFO): DAT read: Rx Time:06:50:53.9448

2025-08-21T06:50:55.304Z,1755759055.304 [DAT](INFO): Rx dataTimestamp_ set to:1755759055.303655
2025-08-21T06:50:55.695Z,1755759055.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.33 m.
2025-08-21T06:50:55.810Z,1755759055.810 [DAT](INFO): DAT read: 06:50:53.9448 LVL= 32752, 21281, 21522, 32691, AGC= 50, IDX= 440, 0.36,-0.545, 1.689, 0.807, 1.032, PHS=-1.475, 0.702,-0.270, RAW= 296.4,  11.1, CAL= 293.8,  15.1, ROT= 216.2, -15.1

2025-08-21T06:50:55.811Z,1755759055.811 [DAT](INFO): got valid direction response:
 06:50:53.9448 LVL= 32752, 21281, 21522, 32691, AGC= 50, IDX= 440, 0.36,-0.545, 1.689, 0.807, 1.032, PHS=-1.475, 0.702,-0.270, RAW= 296.4,  11.1, CAL= 293.8,  15.1, ROT= 216.2, -15.1

2025-08-21T06:50:55.812Z,1755759055.812 [DAT](INFO): DAT read: Bearing 317.5, -30.4 (Local)

2025-08-21T06:50:55.812Z,1755759055.812 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.5, -30.4 (Local)

2025-08-21T06:50:55.814Z,1755759055.814 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m  (Round-trip  16.7 ms) speed  0.0 m/s

2025-08-21T06:50:55.814Z,1755759055.814 [DAT](INFO): DAT read: user:1960>

2025-08-21T06:50:55.815Z,1755759055.815 [DAT](INFO): DAT read: Tx time:06:50:55.0739

2025-08-21T06:50:55.815Z,1755759055.815 [DAT](INFO): Ping request sent.
2025-08-21T06:50:55.816Z,1755759055.816 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:55.816Z,1755759055.816 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-21T06:50:55.817Z,1755759055.817 [DAT](INFO): direction in FSK: [-0.779098,-0.570214,0.260505]
2025-08-21T06:50:55.817Z,1755759055.817 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:55.817Z,1755759055.817 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:55.821Z,1755759055.821 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:55.821Z,1755759055.821 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:56.064Z,1755759056.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 3.526102 s,
      deltaX: 0.100000 m,
      approachRate: 0.028360 m/s,
      rangeRepo size: 4

2025-08-21T06:50:56.066Z,1755759056.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.431536 m,
      bearing: 213.288659 deg,
      lat: 36.779375 deg,
      lon: -121.859444 deg,
      deltaT: 3.526102 s,
      deltaX: 0.099463 m,
      approachRate: 0.028208 m/s,
      posRepo size: 4

2025-08-21T06:50:56.066Z,1755759056.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-08-21T06:50:56.480Z,1755759056.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-08-21T06:50:56.861Z,1755759056.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-08-21T06:50:57.266Z,1755759057.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-08-21T06:50:57.633Z,1755759057.633 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS0381605,35.0, +10.7,   0.0,1492.7,  0
2025-08-21T06:50:57.648Z,1755759057.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-08-21T06:50:58.050Z,1755759058.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-08-21T06:50:58.508Z,1755759058.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-08-21T06:50:58.846Z,1755759058.846 [DAT](INFO): DAT read: Rx Time:06:50:57.4950

2025-08-21T06:50:58.846Z,1755759058.846 [DAT](INFO): Rx dataTimestamp_ set to:1755759058.845868
2025-08-21T06:50:58.892Z,1755759058.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-08-21T06:50:59.262Z,1755759059.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m.
2025-08-21T06:50:59.360Z,1755759059.360 [DAT](INFO): DAT read: 06:50:57.4950 LVL= 32752, 21233, 21234, 32755, AGC= 49, IDX= 442, 0.20,-1.355, 0.886,-0.000, 0.213, PHS=-1.466, 0.718,-0.258, RAW= 296.5,  10.6, CAL= 293.9,  14.2, ROT= 216.1, -14.2

2025-08-21T06:50:59.362Z,1755759059.362 [DAT](INFO): got valid direction response:
 06:50:57.4950 LVL= 32752, 21233, 21234, 32755, AGC= 49, IDX= 442, 0.20,-1.355, 0.886,-0.000, 0.213, PHS=-1.466, 0.718,-0.258, RAW= 296.5,  10.6, CAL= 293.9,  14.2, ROT= 216.1, -14.2

2025-08-21T06:50:59.367Z,1755759059.367 [DAT](INFO): DAT read: Bearing 316.1, -30.5 (Local)

2025-08-21T06:50:59.369Z,1755759059.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.1, -30.5 (Local)

2025-08-21T06:50:59.370Z,1755759059.370 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m  (Round-trip  16.9 ms) speed  0.0 m/s

2025-08-21T06:50:59.371Z,1755759059.371 [DAT](INFO): DAT read: user:1961>

2025-08-21T06:50:59.374Z,1755759059.374 [DAT](INFO): DAT read: Tx time:06:50:58.6239

2025-08-21T06:50:59.406Z,1755759059.406 [DAT](INFO): Ping request sent.
2025-08-21T06:50:59.406Z,1755759059.406 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:50:59.412Z,1755759059.412 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-21T06:50:59.419Z,1755759059.419 [DAT](INFO): direction in FSK: [-0.783302,-0.571194,0.245307]
2025-08-21T06:50:59.420Z,1755759059.420 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:59.421Z,1755759059.421 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:59.453Z,1755759059.453 [DAT](INFO): publishing transmit ping time
2025-08-21T06:50:59.453Z,1755759059.453 [DAT](INFO): publishing direction and range info
2025-08-21T06:50:59.699Z,1755759059.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.600000 m,
      deltaT: 3.544213 s,
      deltaX: 0.100000 m,
      approachRate: 0.028215 m/s,
      rangeRepo size: 4

2025-08-21T06:50:59.701Z,1755759059.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.530902 m,
      bearing: 211.072524 deg,
      lat: 36.779376 deg,
      lon: -121.859446 deg,
      deltaT: 3.544213 s,
      deltaX: 0.099366 m,
      approachRate: 0.028036 m/s,
      posRepo size: 4

2025-08-21T06:50:59.701Z,1755759059.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:51:00.070Z,1755759060.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:51:00.549Z,1755759060.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:51:00.918Z,1755759060.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:51:01.280Z,1755759061.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:51:01.737Z,1755759061.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:51:02.108Z,1755759062.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:51:02.376Z,1755759062.376 [DAT](INFO): DAT read: Rx Time:06:51:01.0451

2025-08-21T06:51:02.377Z,1755759062.377 [DAT](INFO): Rx dataTimestamp_ set to:1755759062.376460
2025-08-21T06:51:02.532Z,1755759062.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m.
2025-08-21T06:51:02.886Z,1755759062.886 [DAT](INFO): DAT read: 06:51:01.0451 LVL= 32752, 21553, 20962, 30755, AGC= 50, IDX= 443,-0.32,-2.737,-0.459,-1.356,-1.162, PHS=-1.473, 0.747,-0.239, RAW= 296.3,  10.0, CAL= 293.7,  12.8, ROT= 216.3, -12.8

2025-08-21T06:51:02.887Z,1755759062.887 [DAT](INFO): got valid direction response:
 06:51:01.0451 LVL= 32752, 21553, 20962, 30755, AGC= 50, IDX= 443,-0.32,-2.737,-0.459,-1.356,-1.162, PHS=-1.473, 0.747,-0.239, RAW= 296.3,  10.0, CAL= 293.7,  12.8, ROT= 216.3, -12.8

2025-08-21T06:51:02.888Z,1755759062.888 [DAT](INFO): DAT read: Bearing 315.0, -31.1 (Local)

2025-08-21T06:51:02.888Z,1755759062.888 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.0, -31.1 (Local)

2025-08-21T06:51:02.890Z,1755759062.890 [DAT](INFO): DAT read: Range 11 to 50 : 12.7 m  (Round-trip  17.0 ms) speed  0.0 m/s

2025-08-21T06:51:02.891Z,1755759062.891 [DAT](INFO): DAT read: user:1962>

2025-08-21T06:51:02.891Z,1755759062.891 [DAT](INFO): DAT read: Tx time:06:51:02.1739

2025-08-21T06:51:02.892Z,1755759062.892 [DAT](INFO): Ping request sent.
2025-08-21T06:51:02.892Z,1755759062.892 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:51:02.892Z,1755759062.892 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-21T06:51:02.893Z,1755759062.893 [DAT](INFO): direction in FSK: [-0.785900,-0.577301,0.221548]
2025-08-21T06:51:02.893Z,1755759062.893 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:02.894Z,1755759062.894 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:02.897Z,1755759062.897 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:02.897Z,1755759062.897 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:02.981Z,1755759062.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.700000 m,
      deltaT: 3.531827 s,
      deltaX: 0.099999 m,
      approachRate: 0.028314 m/s,
      rangeRepo size: 4

2025-08-21T06:51:02.987Z,1755759062.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.630367 m,
      bearing: 209.201778 deg,
      lat: 36.779377 deg,
      lon: -121.859449 deg,
      deltaT: 3.531827 s,
      deltaX: 0.099465 m,
      approachRate: 0.028163 m/s,
      posRepo size: 4

2025-08-21T06:51:02.988Z,1755759062.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.63 m.
2025-08-21T06:51:03.306Z,1755759063.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.63 m.
2025-08-21T06:51:03.758Z,1755759063.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.63 m.
2025-08-21T06:51:04.111Z,1755759064.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.63 m.
2025-08-21T06:51:04.576Z,1755759064.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.63 m.
2025-08-21T06:51:04.949Z,1755759064.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.63 m.
2025-08-21T06:51:05.331Z,1755759065.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.63 m.
2025-08-21T06:51:05.792Z,1755759065.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.63 m.
2025-08-21T06:51:05.913Z,1755759065.913 [DAT](INFO): DAT read: Rx Time:06:51:04.5953

2025-08-21T06:51:05.914Z,1755759065.914 [DAT](INFO): Rx dataTimestamp_ set to:1755759065.912983
2025-08-21T06:51:06.128Z,1755759066.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.63 m.
2025-08-21T06:51:06.180Z,1755759066.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:51:06.422Z,1755759066.422 [DAT](INFO): DAT read: 06:51:04.5953 LVL= 32752, 18641, 20402, 30115, AGC= 50, IDX= 444, 0.43,-1.719, 0.588,-0.313,-0.159, PHS=-1.458, 0.793,-0.198, RAW= 296.0,   8.9, CAL= 293.6,  10.2, ROT= 216.4, -10.2

2025-08-21T06:51:06.423Z,1755759066.423 [DAT](INFO): got valid direction response:
 06:51:04.5953 LVL= 32752, 18641, 20402, 30115, AGC= 50, IDX= 444, 0.43,-1.719, 0.588,-0.313,-0.159, PHS=-1.458, 0.793,-0.198, RAW= 296.0,   8.9, CAL= 293.6,  10.2, ROT= 216.4, -10.2

2025-08-21T06:51:06.424Z,1755759066.424 [DAT](INFO): DAT read: Bearing 315.7, -32.1 (Local)

2025-08-21T06:51:06.424Z,1755759066.424 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.7, -32.1 (Local)

2025-08-21T06:51:06.426Z,1755759066.426 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m  (Round-trip  17.2 ms) speed  0.0 m/s

2025-08-21T06:51:06.427Z,1755759066.427 [DAT](INFO): DAT read: user:1963>

2025-08-21T06:51:06.427Z,1755759066.427 [DAT](INFO): DAT read: Tx time:06:51:05.7239

2025-08-21T06:51:06.428Z,1755759066.428 [DAT](INFO): Ping request sent.
2025-08-21T06:51:06.428Z,1755759066.428 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:51:06.428Z,1755759066.428 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-21T06:51:06.429Z,1755759066.429 [DAT](INFO): direction in FSK: [-0.792173,-0.584040,0.177085]
2025-08-21T06:51:06.429Z,1755759066.429 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:06.430Z,1755759066.430 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:06.433Z,1755759066.433 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:06.433Z,1755759066.433 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:06.669Z,1755759066.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 3.535888 s,
      deltaX: 0.200000 m,
      approachRate: 0.056563 m/s,
      rangeRepo size: 4

2025-08-21T06:51:06.676Z,1755759066.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.829303 m,
      bearing: 206.819187 deg,
      lat: 36.779377 deg,
      lon: -121.859452 deg,
      deltaT: 3.535888 s,
      deltaX: 0.198936 m,
      approachRate: 0.056262 m/s,
      posRepo size: 4

2025-08-21T06:51:06.676Z,1755759066.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:06.971Z,1755759066.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:07.184Z,1755759067.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:51:07.378Z,1755759067.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:07.850Z,1755759067.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:08.205Z,1755759068.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:08.638Z,1755759068.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:08.987Z,1755759068.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:09.369Z,1755759069.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:09.441Z,1755759069.441 [DAT](INFO): DAT read: Rx Time:06:51:08.1453

2025-08-21T06:51:09.441Z,1755759069.441 [DAT](INFO): Rx dataTimestamp_ set to:1755759069.440989
2025-08-21T06:51:09.793Z,1755759069.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:09.951Z,1755759069.951 [DAT](INFO): DAT read: 06:51:08.1453 LVL= 28528, 20465, 23122, 28147, AGC= 49, IDX= 446, 0.24,-0.948, 1.354, 0.367, 0.565, PHS=-1.411, 0.835,-0.242, RAW= 298.6,   8.5, CAL= 296.2,   9.3, ROT= 213.8,  -9.3

2025-08-21T06:51:09.952Z,1755759069.952 [DAT](INFO): got valid direction response:
 06:51:08.1453 LVL= 28528, 20465, 23122, 28147, AGC= 49, IDX= 446, 0.24,-0.948, 1.354, 0.367, 0.565, PHS=-1.411, 0.835,-0.242, RAW= 298.6,   8.5, CAL= 296.2,   9.3, ROT= 213.8,  -9.3

2025-08-21T06:51:09.953Z,1755759069.953 [DAT](INFO): DAT read: Bearing 315.1, -30.0 (Local)

2025-08-21T06:51:09.953Z,1755759069.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.1, -30.0 (Local)

2025-08-21T06:51:09.955Z,1755759069.955 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m  (Round-trip  17.3 ms) speed  0.0 m/s

2025-08-21T06:51:09.955Z,1755759069.955 [DAT](INFO): DAT read: user:1964>

2025-08-21T06:51:09.956Z,1755759069.956 [DAT](INFO): DAT read: Tx time:06:51:09.2738

2025-08-21T06:51:09.956Z,1755759069.956 [DAT](INFO): Ping request sent.
2025-08-21T06:51:09.957Z,1755759069.957 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:51:09.957Z,1755759069.957 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-21T06:51:09.958Z,1755759069.958 [DAT](INFO): direction in FSK: [-0.820062,-0.548984,0.161604]
2025-08-21T06:51:09.958Z,1755759069.958 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:09.958Z,1755759069.958 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:09.982Z,1755759069.982 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:09.982Z,1755759069.982 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:10.211Z,1755759070.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 3.528412 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T06:51:10.213Z,1755759070.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.829270 m,
      bearing: 202.322219 deg,
      lat: 36.779377 deg,
      lon: -121.859454 deg,
      deltaT: 3.528412 s,
      deltaX: -0.000032 m,
      approachRate: -0.000009 m/s,
      posRepo size: 4

2025-08-21T06:51:10.214Z,1755759070.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:10.643Z,1755759070.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:11.001Z,1755759071.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:11.386Z,1755759071.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:11.848Z,1755759071.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:12.200Z,1755759072.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:12.672Z,1755759072.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:12.968Z,1755759072.968 [DAT](INFO): DAT read: Rx Time:06:51:11.6954

2025-08-21T06:51:12.969Z,1755759072.969 [DAT](INFO): Rx dataTimestamp_ set to:1755759072.968527
2025-08-21T06:51:13.004Z,1755759073.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:13.463Z,1755759073.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T06:51:13.478Z,1755759073.478 [DAT](INFO): DAT read: 06:51:11.6954 LVL= 32736, 18705, 25810, 32755, AGC= 49, IDX= 447,-0.13, 1.981,-1.972,-3.087,-2.826, PHS=-1.373, 0.899,-0.304, RAW= 302.0,   8.0, CAL= 299.5,   8.4, ROT= 210.5,  -8.4

2025-08-21T06:51:13.494Z,1755759073.494 [DAT](INFO): got valid direction response:
 06:51:11.6954 LVL= 32736, 18705, 25810, 32755, AGC= 49, IDX= 447,-0.13, 1.981,-1.972,-3.087,-2.826, PHS=-1.373, 0.899,-0.304, RAW= 302.0,   8.0, CAL= 299.5,   8.4, ROT= 210.5,  -8.4

2025-08-21T06:51:13.495Z,1755759073.495 [DAT](INFO): DAT read: Bearing 314.8, -27.4 (Local)

2025-08-21T06:51:13.495Z,1755759073.495 [DAT](INFO): Local bearing/azimuth received:
 Bearing 314.8, -27.4 (Local)

2025-08-21T06:51:13.497Z,1755759073.497 [DAT](INFO): DAT read: Range 11 to 50 : 13.0 m  (Round-trip  17.4 ms) speed  0.0 m/s

2025-08-21T06:51:13.497Z,1755759073.497 [DAT](INFO): DAT read: user:1965>

2025-08-21T06:51:13.498Z,1755759073.498 [DAT](INFO): DAT read: Tx time:06:51:12.8238

2025-08-21T06:51:13.498Z,1755759073.498 [DAT](INFO): Ping request sent.
2025-08-21T06:51:13.499Z,1755759073.499 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:51:13.499Z,1755759073.499 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-21T06:51:13.517Z,1755759073.517 [DAT](INFO): direction in FSK: [-0.852386,-0.502094,0.146083]
2025-08-21T06:51:13.517Z,1755759073.517 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:13.518Z,1755759073.518 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:13.565Z,1755759073.565 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:13.565Z,1755759073.565 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:13.887Z,1755759073.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.000000 m,
      deltaT: 3.527944 s,
      deltaX: 0.100000 m,
      approachRate: 0.028345 m/s,
      rangeRepo size: 4

2025-08-21T06:51:13.889Z,1755759073.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.928802 m,
      bearing: 197.007815 deg,
      lat: 36.779376 deg,
      lon: -121.859454 deg,
      deltaT: 3.527944 s,
      deltaX: 0.099531 m,
      approachRate: 0.028212 m/s,
      posRepo size: 4

2025-08-21T06:51:13.890Z,1755759073.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.93 m.
2025-08-21T06:51:14.270Z,1755759074.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:51:14.276Z,1755759074.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.93 m.
2025-08-21T06:51:14.480Z,1755759074.480 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:51:14.480Z,1755759074.480 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:51:14.481Z,1755759074.481 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:51:14.732Z,1755759074.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.233718
2025-08-21T06:51:14.742Z,1755759074.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.93 m.
2025-08-21T06:51:14.984Z,1755759074.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.485788
2025-08-21T06:51:15.098Z,1755759075.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.93 m.
2025-08-21T06:51:15.236Z,1755759075.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.737649
2025-08-21T06:51:15.465Z,1755759075.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.93 m.
2025-08-21T06:51:15.488Z,1755759075.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989648
2025-08-21T06:51:15.740Z,1755759075.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241907
2025-08-21T06:51:15.887Z,1755759075.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.93 m.
2025-08-21T06:51:15.992Z,1755759075.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493804
2025-08-21T06:51:16.244Z,1755759076.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745584
2025-08-21T06:51:16.320Z,1755759076.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.93 m.
2025-08-21T06:51:16.496Z,1755759076.496 [DAT](INFO): DAT read: Rx Time:06:51:15.2456

2025-08-21T06:51:16.497Z,1755759076.497 [DAT](INFO): Rx dataTimestamp_ set to:1755759076.496461
2025-08-21T06:51:16.497Z,1755759076.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998740
2025-08-21T06:51:16.725Z,1755759076.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.93 m.
2025-08-21T06:51:16.761Z,1755759076.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262470
2025-08-21T06:51:17.018Z,1755759077.018 [DAT](INFO): DAT read: 06:51:15.2456 LVL= 32208, 18145, 23154, 32755, AGC= 48, IDX= 449, 0.06, 2.666,-1.306,-2.514,-2.218, PHS=-1.298, 0.956,-0.341, RAW= 305.0,   7.0, CAL= 302.6,   6.6, ROT= 207.4,  -6.6

2025-08-21T06:51:17.019Z,1755759077.019 [DAT](INFO): got valid direction response:
 06:51:15.2456 LVL= 32208, 18145, 23154, 32755, AGC= 48, IDX= 449, 0.06, 2.666,-1.306,-2.514,-2.218, PHS=-1.298, 0.956,-0.341, RAW= 305.0,   7.0, CAL= 302.6,   6.6, ROT= 207.4,  -6.6

2025-08-21T06:51:17.020Z,1755759077.020 [DAT](INFO): DAT read: Bearing 315.5, -24.9 (Local)

2025-08-21T06:51:17.020Z,1755759077.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing 315.5, -24.9 (Local)

2025-08-21T06:51:17.022Z,1755759077.022 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m  (Round-trip  17.6 ms) speed  0.0 m/s

2025-08-21T06:51:17.022Z,1755759077.022 [DAT](INFO): DAT read: user:1966>

2025-08-21T06:51:17.023Z,1755759077.023 [DAT](INFO): DAT read: Tx time:06:51:16.3738

2025-08-21T06:51:17.023Z,1755759077.023 [DAT](INFO): Ping request sent.
2025-08-21T06:51:17.024Z,1755759077.024 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:51:17.024Z,1755759077.024 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:51:17.025Z,1755759077.025 [DAT](INFO): direction in FSK: [-0.881932,-0.457150,0.114937]
2025-08-21T06:51:17.025Z,1755759077.025 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:17.025Z,1755759077.025 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:17.029Z,1755759077.029 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:17.029Z,1755759077.029 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:17.157Z,1755759077.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 3.539575 s,
      deltaX: 0.200000 m,
      approachRate: 0.056504 m/s,
      rangeRepo size: 4

2025-08-21T06:51:17.164Z,1755759077.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.127723 m,
      bearing: 192.378035 deg,
      lat: 36.779375 deg,
      lon: -121.859454 deg,
      deltaT: 3.539575 s,
      deltaX: 0.198921 m,
      approachRate: 0.056199 m/s,
      posRepo size: 4

2025-08-21T06:51:17.165Z,1755759077.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-08-21T06:51:17.489Z,1755759077.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-08-21T06:51:17.915Z,1755759077.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-08-21T06:51:18.369Z,1755759078.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-08-21T06:51:18.751Z,1755759078.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-08-21T06:51:19.179Z,1755759079.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-08-21T06:51:19.581Z,1755759079.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-08-21T06:51:20.002Z,1755759080.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-08-21T06:51:20.041Z,1755759080.041 [DAT](INFO): DAT read: Rx Time:06:51:18.7958

2025-08-21T06:51:20.042Z,1755759080.042 [DAT](INFO): Rx dataTimestamp_ set to:1755759080.041253
2025-08-21T06:51:20.379Z,1755759080.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m.
2025-08-21T06:51:20.550Z,1755759080.550 [DAT](INFO): DAT read: 06:51:18.7958 LVL= 30240, 19185, 19682, 31139, AGC= 53, IDX= 451, 0.08,-3.093,-0.747,-1.999,-1.752, PHS=-1.239, 1.050,-0.291, RAW= 305.7,   4.9, CAL= 303.3,   2.6, ROT= 206.7,  -2.6

2025-08-21T06:51:20.551Z,1755759080.551 [DAT](INFO): got valid direction response:
 06:51:18.7958 LVL= 30240, 19185, 19682, 31139, AGC= 53, IDX= 451, 0.08,-3.093,-0.747,-1.999,-1.752, PHS=-1.239, 1.050,-0.291, RAW= 305.7,   4.9, CAL= 303.3,   2.6, ROT= 206.7,  -2.6

2025-08-21T06:51:20.555Z,1755759080.555 [DAT](INFO): DAT read: Bearing 318.3, -25.0 (Local)

2025-08-21T06:51:20.580Z,1755759080.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 318.3, -25.0 (Local)

2025-08-21T06:51:20.582Z,1755759080.582 [DAT](INFO): DAT read: Range 11 to 50 : 13.3 m  (Round-trip  17.8 ms) speed  0.0 m/s

2025-08-21T06:51:20.582Z,1755759080.582 [DAT](INFO): DAT read: user:1967>

2025-08-21T06:51:20.583Z,1755759080.583 [DAT](INFO): DAT read: Tx time:06:51:19.9238

2025-08-21T06:51:20.584Z,1755759080.584 [DAT](INFO): Ping request sent.
2025-08-21T06:51:20.584Z,1755759080.584 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:51:20.584Z,1755759080.584 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-21T06:51:20.585Z,1755759080.585 [DAT](INFO): direction in FSK: [-0.892452,-0.448856,0.045363]
2025-08-21T06:51:20.585Z,1755759080.585 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:20.586Z,1755759080.586 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:20.594Z,1755759080.594 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:20.595Z,1755759080.595 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:20.913Z,1755759080.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.300000 m,
      deltaT: 3.532090 s,
      deltaX: 0.100000 m,
      approachRate: 0.028312 m/s,
      rangeRepo size: 4

2025-08-21T06:51:20.915Z,1755759080.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.227217 m,
      bearing: 189.408112 deg,
      lat: 36.779374 deg,
      lon: -121.859449 deg,
      deltaT: 3.532090 s,
      deltaX: 0.099494 m,
      approachRate: 0.028169 m/s,
      posRepo size: 4

2025-08-21T06:51:20.916Z,1755759080.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.23 m.
2025-08-21T06:51:21.202Z,1755759081.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.23 m.
2025-08-21T06:51:21.611Z,1755759081.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.23 m.
2025-08-21T06:51:22.034Z,1755759082.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.23 m.
2025-08-21T06:51:22.396Z,1755759082.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.23 m.
2025-08-21T06:51:22.807Z,1755759082.807 [RDI_Pathfinder](ERROR): only read 0 of 4 data items for water velocity. Device response is::WS-32768,-32768,V
2025-08-21T06:51:22.824Z,1755759082.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.23 m.
2025-08-21T06:51:23.212Z,1755759083.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.23 m.
2025-08-21T06:51:23.568Z,1755759083.568 [DAT](INFO): DAT read: Rx Time:06:51:22.3459

2025-08-21T06:51:23.569Z,1755759083.569 [DAT](INFO): Rx dataTimestamp_ set to:1755759083.568468
2025-08-21T06:51:23.624Z,1755759083.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.23 m.
2025-08-21T06:51:24.087Z,1755759084.087 [DAT](INFO): DAT read: 06:51:22.3459 LVL= 32752, 20641, 22514, 29875, AGC= 51, IDX= 437,-0.37, 1.076,-2.773, 2.140, 2.422, PHS=-1.244, 1.133,-0.326, RAW= 307.5,   4.3, CAL= 305.1,   1.6, ROT= 204.9,  -1.6

2025-08-21T06:51:24.088Z,1755759084.088 [DAT](INFO): got valid direction response:
 06:51:22.3459 LVL= 32752, 20641, 22514, 29875, AGC= 51, IDX= 437,-0.37, 1.076,-2.773, 2.140, 2.422, PHS=-1.244, 1.133,-0.326, RAW= 307.5,   4.3, CAL= 305.1,   1.6, ROT= 204.9,  -1.6

2025-08-21T06:51:24.089Z,1755759084.089 [DAT](INFO): DAT read: Bearing 317.9, -23.4 (Local)

2025-08-21T06:51:24.090Z,1755759084.090 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.9, -23.4 (Local)

2025-08-21T06:51:24.095Z,1755759084.095 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m  (Round-trip  18.0 ms) speed  0.0 m/s

2025-08-21T06:51:24.096Z,1755759084.096 [DAT](INFO): DAT read: user:1968>

2025-08-21T06:51:24.097Z,1755759084.097 [DAT](INFO): DAT read: Tx time:06:51:23.4738

2025-08-21T06:51:24.097Z,1755759084.097 [DAT](INFO): Ping request sent.
2025-08-21T06:51:24.097Z,1755759084.097 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:51:24.097Z,1755759084.097 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-21T06:51:24.098Z,1755759084.098 [DAT](INFO): direction in FSK: [-0.906690,-0.420872,0.027922]
2025-08-21T06:51:24.099Z,1755759084.099 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:24.099Z,1755759084.099 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:24.114Z,1755759084.114 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:24.114Z,1755759084.114 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:24.179Z,1755759084.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 3.528120 s,
      deltaX: 0.200000 m,
      approachRate: 0.056687 m/s,
      rangeRepo size: 4

2025-08-21T06:51:24.185Z,1755759084.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.426104 m,
      bearing: 186.292586 deg,
      lat: 36.779372 deg,
      lon: -121.859445 deg,
      deltaT: 3.528120 s,
      deltaX: 0.198887 m,
      approachRate: 0.056372 m/s,
      posRepo size: 4

2025-08-21T06:51:24.185Z,1755759084.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:24.501Z,1755759084.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:24.926Z,1755759084.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:25.336Z,1755759085.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:25.709Z,1755759085.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:26.182Z,1755759086.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:26.534Z,1755759086.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:26.953Z,1755759086.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:27.097Z,1755759087.097 [DAT](INFO): DAT read: Rx Time:06:51:25.8960

2025-08-21T06:51:27.097Z,1755759087.097 [DAT](INFO): Rx dataTimestamp_ set to:1755759087.096696
2025-08-21T06:51:27.366Z,1755759087.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:27.615Z,1755759087.615 [DAT](INFO): DAT read: 06:51:25.8960 LVL= 32752, 21025, 22066, 32499, AGC= 53, IDX= 438,-0.02, 0.004, 2.436, 1.054, 1.334, PHS=-1.228, 1.146,-0.324, RAW= 307.8,   4.0, CAL= 305.4,   1.1, ROT= 204.6,  -1.1

2025-08-21T06:51:27.616Z,1755759087.616 [DAT](INFO): got valid direction response:
 06:51:25.8960 LVL= 32752, 21025, 22066, 32499, AGC= 53, IDX= 438,-0.02, 0.004, 2.436, 1.054, 1.334, PHS=-1.228, 1.146,-0.324, RAW= 307.8,   4.0, CAL= 305.4,   1.1, ROT= 204.6,  -1.1

2025-08-21T06:51:27.617Z,1755759087.617 [DAT](INFO): DAT read: Bearing 316.8, -23.0 (Local)

2025-08-21T06:51:27.617Z,1755759087.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing 316.8, -23.0 (Local)

2025-08-21T06:51:27.619Z,1755759087.619 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m  (Round-trip  18.1 ms) speed  0.0 m/s

2025-08-21T06:51:27.619Z,1755759087.619 [DAT](INFO): DAT read: user:1969>

2025-08-21T06:51:27.620Z,1755759087.620 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-21T06:51:27.621Z,1755759087.621 [DAT](INFO): direction in FSK: [-0.909068,-0.416204,0.019197]
2025-08-21T06:51:27.621Z,1755759087.621 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:27.794Z,1755759087.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.500000 m,
      deltaT: 3.529370 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T06:51:27.810Z,1755759087.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.426146 m,
      bearing: 184.243968 deg,
      lat: 36.779372 deg,
      lon: -121.859445 deg,
      deltaT: 3.529370 s,
      deltaX: 0.000042 m,
      approachRate: 0.000012 m/s,
      posRepo size: 4

2025-08-21T06:51:27.816Z,1755759087.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:27.855Z,1755759087.855 [DAT](INFO): DAT read: Tx time:06:51:27.0238

2025-08-21T06:51:27.856Z,1755759087.856 [DAT](INFO): Ping request sent.
2025-08-21T06:51:27.856Z,1755759087.856 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:51:27.857Z,1755759087.857 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:28.296Z,1755759088.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:28.658Z,1755759088.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:29.086Z,1755759089.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:29.492Z,1755759089.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:29.950Z,1755759089.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:30.367Z,1755759090.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:30.624Z,1755759090.624 [DAT](INFO): DAT read: Rx Time:06:51:29.4464

2025-08-21T06:51:30.625Z,1755759090.625 [DAT](INFO): Rx dataTimestamp_ set to:1755759090.624516
2025-08-21T06:51:30.780Z,1755759090.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:31.229Z,1755759091.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m.
2025-08-21T06:51:31.386Z,1755759091.386 [DAT](INFO): DAT read: 06:51:29.4464 LVL= 32752, 23457, 24370, 31587, AGC= 59, IDX= 442, 0.02,-0.032, 2.456, 1.042, 1.286, PHS=-1.217, 1.214,-0.289, RAW= 307.8,   2.8, CAL= 305.5,  -0.6, ROT= 204.5,   0.6

2025-08-21T06:51:31.388Z,1755759091.388 [DAT](INFO): got valid direction response:
 06:51:29.4464 LVL= 32752, 23457, 24370, 31587, AGC= 59, IDX= 442, 0.02,-0.032, 2.456, 1.042, 1.286, PHS=-1.217, 1.214,-0.289, RAW= 307.8,   2.8, CAL= 305.5,  -0.6, ROT= 204.5,   0.6

2025-08-21T06:51:31.388Z,1755759091.388 [DAT](INFO): DAT read: Bearing 317.0, -23.0 (Local)

2025-08-21T06:51:31.389Z,1755759091.389 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.0, -23.0 (Local)

2025-08-21T06:51:31.390Z,1755759091.390 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m  (Round-trip  18.5 ms) speed  0.0 m/s

2025-08-21T06:51:31.391Z,1755759091.391 [DAT](INFO): DAT read: user:1970>

2025-08-21T06:51:31.392Z,1755759091.392 [DAT](INFO): DAT read: Tx time:06:51:30.5738

2025-08-21T06:51:31.392Z,1755759091.392 [DAT](INFO): Ping request sent.
2025-08-21T06:51:31.392Z,1755759091.392 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:51:31.392Z,1755759091.392 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-21T06:51:31.393Z,1755759091.393 [DAT](INFO): direction in FSK: [-0.909911,-0.414671,-0.010472]
2025-08-21T06:51:31.394Z,1755759091.394 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:31.394Z,1755759091.394 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:31.409Z,1755759091.409 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:31.409Z,1755759091.409 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:31.660Z,1755759091.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.800000 m,
      deltaT: 3.778979 s,
      deltaX: 0.300000 m,
      approachRate: 0.079387 m/s,
      rangeRepo size: 4

2025-08-21T06:51:31.662Z,1755759091.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.724524 m,
      bearing: 182.275692 deg,
      lat: 36.779372 deg,
      lon: -121.859445 deg,
      deltaT: 3.778979 s,
      deltaX: 0.298379 m,
      approachRate: 0.078958 m/s,
      posRepo size: 4

2025-08-21T06:51:31.663Z,1755759091.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-08-21T06:51:32.092Z,1755759092.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-08-21T06:51:32.539Z,1755759092.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-08-21T06:51:32.972Z,1755759092.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-08-21T06:51:33.344Z,1755759093.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-08-21T06:51:33.834Z,1755759093.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-08-21T06:51:34.153Z,1755759094.153 [DAT](INFO): DAT read: Rx Time:06:51:32.9966

2025-08-21T06:51:34.154Z,1755759094.154 [DAT](INFO): Rx dataTimestamp_ set to:1755759094.153530
2025-08-21T06:51:34.260Z,1755759094.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-08-21T06:51:34.572Z,1755759094.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m.
2025-08-21T06:51:34.956Z,1755759094.956 [DAT](INFO): DAT read: 06:51:32.9966 LVL= 32752, 20913, 23282, 32755, AGC= 59, IDX= 444,-0.06,-1.108, 1.407, 0.068, 0.190, PHS=-1.196, 1.262,-0.166, RAW= 305.3,   1.0, CAL= 303.5,  -2.7, ROT= 206.5,   2.7

2025-08-21T06:51:34.957Z,1755759094.957 [DAT](INFO): got valid direction response:
 06:51:32.9966 LVL= 32752, 20913, 23282, 32755, AGC= 59, IDX= 444,-0.06,-1.108, 1.407, 0.068, 0.190, PHS=-1.196, 1.262,-0.166, RAW= 305.3,   1.0, CAL= 303.5,  -2.7, ROT= 206.5,   2.7

2025-08-21T06:51:34.958Z,1755759094.958 [DAT](INFO): DAT read: Bearing 317.3, -25.1 (Local)

2025-08-21T06:51:34.958Z,1755759094.958 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.3, -25.1 (Local)

2025-08-21T06:51:34.964Z,1755759094.964 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m  (Round-trip  18.7 ms) speed  0.0 m/s

2025-08-21T06:51:34.965Z,1755759094.965 [DAT](INFO): DAT read: user:1971>

2025-08-21T06:51:34.966Z,1755759094.966 [DAT](INFO): DAT read: Tx time:06:51:34.1238

2025-08-21T06:51:34.966Z,1755759094.966 [DAT](INFO): Ping request sent.
2025-08-21T06:51:34.966Z,1755759094.966 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:51:34.967Z,1755759094.967 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-21T06:51:34.968Z,1755759094.968 [DAT](INFO): direction in FSK: [-0.893941,-0.445703,-0.047106]
2025-08-21T06:51:34.968Z,1755759094.968 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:34.968Z,1755759094.968 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:34.971Z,1755759094.971 [DAT](INFO): publishing transmit ping time
2025-08-21T06:51:34.972Z,1755759094.972 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:35.100Z,1755759095.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 3.532802 s,
      deltaX: 0.200000 m,
      approachRate: 0.056612 m/s,
      rangeRepo size: 4

2025-08-21T06:51:35.102Z,1755759095.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.923437 m,
      bearing: 182.636387 deg,
      lat: 36.779373 deg,
      lon: -121.859445 deg,
      deltaT: 3.532802 s,
      deltaX: 0.198913 m,
      approachRate: 0.056304 m/s,
      posRepo size: 4

2025-08-21T06:51:35.103Z,1755759095.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T06:51:35.367Z,1755759095.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T06:51:35.777Z,1755759095.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T06:51:36.220Z,1755759096.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T06:51:36.584Z,1755759096.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T06:51:37.034Z,1755759097.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T06:51:37.308Z,1755759097.308 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:51:37.416Z,1755759097.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T06:51:37.684Z,1755759097.684 [DAT](INFO): DAT read: Rx Time:06:51:36.5468

2025-08-21T06:51:37.685Z,1755759097.685 [DAT](INFO): Rx dataTimestamp_ set to:1755759097.684504
2025-08-21T06:51:37.836Z,1755759097.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T06:51:38.312Z,1755759098.312 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:51:38.328Z,1755759098.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T06:51:38.449Z,1755759098.449 [DAT](INFO): DAT read: 06:51:36.5467 LVL= 32752, 20209, 24354, 32755, AGC= 58, IDX= 446,-0.07, 1.045,-2.759, 2.260, 2.410, PHS=-1.263, 1.159,-0.194, RAW= 303.9,   2.9, CAL= 301.6,  -0.8, ROT= 208.4,   0.8

2025-08-21T06:51:38.450Z,1755759098.450 [DAT](INFO): got valid direction response:
 06:51:36.5467 LVL= 32752, 20209, 24354, 32755, AGC= 58, IDX= 446,-0.07, 1.045,-2.759, 2.260, 2.410, PHS=-1.263, 1.159,-0.194, RAW= 303.9,   2.9, CAL= 301.6,  -0.8, ROT= 208.4,   0.8

2025-08-21T06:51:38.453Z,1755759098.453 [DAT](INFO): DAT read: Bearing 313.5, -26.9 (Local)

2025-08-21T06:51:38.454Z,1755759098.454 [DAT](INFO): Local bearing/azimuth received:
 Bearing 313.5, -26.9 (Local)

2025-08-21T06:51:38.455Z,1755759098.455 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m  (Round-trip  18.9 ms) speed  0.0 m/s

2025-08-21T06:51:38.456Z,1755759098.456 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-21T06:51:38.457Z,1755759098.457 [DAT](INFO): direction in FSK: [-0.879563,-0.475578,-0.013962]
2025-08-21T06:51:38.457Z,1755759098.457 [DAT](INFO): publishing direction and range info
2025-08-21T06:51:38.681Z,1755759098.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 3.527458 s,
      deltaX: 0.100000 m,
      approachRate: 0.028349 m/s,
      rangeRepo size: 4

2025-08-21T06:51:38.683Z,1755759098.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.022981 m,
      bearing: 183.375194 deg,
      lat: 36.779373 deg,
      lon: -121.859448 deg,
      deltaT: 3.527458 s,
      deltaX: 0.099544 m,
      approachRate: 0.028220 m/s,
      posRepo size: 4

2025-08-21T06:51:38.684Z,1755759098.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:39.106Z,1755759099.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:39.517Z,1755759099.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:39.927Z,1755759099.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:40.350Z,1755759100.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:40.740Z,1755759100.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:41.186Z,1755759101.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:41.607Z,1755759101.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:42.022Z,1755759102.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:42.551Z,1755759102.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:42.874Z,1755759102.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:43.318Z,1755759103.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:43.785Z,1755759103.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:44.221Z,1755759104.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:44.572Z,1755759104.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:44.000Z,1755759105.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:45.427Z,1755759105.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:45.851Z,1755759105.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:46.263Z,1755759106.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:46.295Z,1755759106.295 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-21T06:41:46.2Z
2025-08-21T06:51:46.299Z,1755759106.299 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-21T06:51:46.299Z,1755759106.299 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T06:51:46.299Z,1755759106.299 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-21T06:51:46.300Z,1755759106.300 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T06:51:46.300Z,1755759106.300 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-21T06:51:46.717Z,1755759106.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:46.725Z,1755759106.725 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T06:51:46.725Z,1755759106.725 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-21T06:51:46.726Z,1755759106.726 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-21T06:51:46.726Z,1755759106.726 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T06:51:46.726Z,1755759106.726 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-21T06:51:47.332Z,1755759107.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:47.697Z,1755759107.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:48.114Z,1755759108.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:48.526Z,1755759108.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:48.892Z,1755759108.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:49.313Z,1755759109.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:49.721Z,1755759109.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:50.097Z,1755759110.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:50.533Z,1755759110.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:50.908Z,1755759110.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:51.329Z,1755759111.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:51.726Z,1755759111.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:52.119Z,1755759112.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:52.549Z,1755759112.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:52.932Z,1755759112.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:53.394Z,1755759113.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:53.734Z,1755759113.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:54.138Z,1755759114.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:54.574Z,1755759114.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:54.943Z,1755759114.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:55.390Z,1755759115.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:55.767Z,1755759115.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:56.190Z,1755759116.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:56.600Z,1755759116.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:57.022Z,1755759117.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:57.493Z,1755759117.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:58.049Z,1755759118.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:58.409Z,1755759118.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:58.750Z,1755759118.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:59.187Z,1755759119.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:51:59.600Z,1755759119.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:00.071Z,1755759120.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:00.466Z,1755759120.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:00.884Z,1755759120.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:01.313Z,1755759121.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:01.700Z,1755759121.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:02.065Z,1755759122.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:02.520Z,1755759122.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:02.892Z,1755759122.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:03.304Z,1755759123.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:03.726Z,1755759123.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:04.185Z,1755759124.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:04.539Z,1755759124.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:04.926Z,1755759124.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:05.391Z,1755759125.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:05.844Z,1755759125.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:06.221Z,1755759126.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:06.671Z,1755759126.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:07.044Z,1755759127.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:07.475Z,1755759127.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:07.884Z,1755759127.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:08.287Z,1755759128.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:08.433Z,1755759128.433 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:52:08.713Z,1755759128.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:09.092Z,1755759129.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:09.437Z,1755759129.437 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:52:09.540Z,1755759129.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:09.901Z,1755759129.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:10.316Z,1755759130.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:10.739Z,1755759130.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:11.119Z,1755759131.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:11.569Z,1755759131.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:11.921Z,1755759131.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:12.326Z,1755759132.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:12.775Z,1755759132.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:13.212Z,1755759133.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:13.649Z,1755759133.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:13.981Z,1755759133.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:14.373Z,1755759134.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:52:14.376Z,1755759134.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:14.494Z,1755759134.494 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:52:14.494Z,1755759134.494 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:52:14.744Z,1755759134.744 [DAT](INFO): DAT read: user:1972>

2025-08-21T06:52:14.745Z,1755759134.745 [DAT](INFO): DAT read: Tx time:06:52:13.9736

2025-08-21T06:52:14.745Z,1755759134.745 [DAT](INFO): Ping request sent.
2025-08-21T06:52:14.745Z,1755759134.745 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:52:14.745Z,1755759134.745 [DAT](INFO): publishing transmit ping time
2025-08-21T06:52:14.746Z,1755759134.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-21T06:52:14.834Z,1755759134.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:14.996Z,1755759134.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250929
2025-08-21T06:52:15.196Z,1755759135.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:15.253Z,1755759135.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507315
2025-08-21T06:52:15.507Z,1755759135.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761145
2025-08-21T06:52:15.638Z,1755759135.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:15.756Z,1755759135.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010931
2025-08-21T06:52:15.977Z,1755759135.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:16.009Z,1755759136.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263237
2025-08-21T06:52:16.260Z,1755759136.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515166
2025-08-21T06:52:16.388Z,1755759136.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:16.529Z,1755759136.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769354
2025-08-21T06:52:16.764Z,1755759136.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018943
2025-08-21T06:52:16.824Z,1755759136.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:17.017Z,1755759137.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271508
2025-08-21T06:52:17.193Z,1755759137.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:17.268Z,1755759137.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522979
2025-08-21T06:52:17.524Z,1755759137.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778477
2025-08-21T06:52:17.660Z,1755759137.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:17.772Z,1755759137.772 [DAT](INFO): DAT read: Rx Time:06:52:16.4012

2025-08-21T06:52:17.773Z,1755759137.773 [DAT](INFO): Rx dataTimestamp_ set to:1755759137.772544
2025-08-21T06:52:17.773Z,1755759137.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028074
2025-08-21T06:52:17.993Z,1755759137.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m.
2025-08-21T06:52:18.025Z,1755759138.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279094
2025-08-21T06:52:18.281Z,1755759138.281 [DAT](INFO): DAT read: 06:52:16.4012 LVL= 30688, 25889, 32082, 29763, AGC= 69, IDX= 493,-0.16,-2.142, 0.322,-1.338,-0.992, PHS=-1.049, 1.359,-0.390, RAW= 314.7,   0.8, CAL= 312.7,  -2.3, ROT= 197.3,   2.3

2025-08-21T06:52:18.282Z,1755759138.282 [DAT](INFO): got valid direction response:
 06:52:16.4012 LVL= 30688, 25889, 32082, 29763, AGC= 69, IDX= 493,-0.16,-2.142, 0.322,-1.338,-0.992, PHS=-1.049, 1.359,-0.390, RAW= 314.7,   0.8, CAL= 312.7,  -2.3, ROT= 197.3,   2.3

2025-08-21T06:52:18.283Z,1755759138.283 [DAT](INFO): DAT read: Bearing 305.2, -18.6 (Local)

2025-08-21T06:52:18.284Z,1755759138.284 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.2, -18.6 (Local)

2025-08-21T06:52:18.285Z,1755759138.285 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m  (Round-trip  23.5 ms) speed  0.0 m/s

2025-08-21T06:52:18.286Z,1755759138.286 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:52:18.287Z,1755759138.287 [DAT](INFO): direction in FSK: [-0.953992,-0.297135,-0.040132]
2025-08-21T06:52:18.287Z,1755759138.287 [DAT](INFO): publishing direction and range info
2025-08-21T06:52:18.449Z,1755759138.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 39.835178 s,
      deltaX: 3.500000 m,
      approachRate: 0.087862 m/s,
      rangeRepo size: 4

2025-08-21T06:52:18.455Z,1755759138.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.503614 m,
      bearing: 162.478094 deg,
      lat: 36.779373 deg,
      lon: -121.859456 deg,
      deltaT: 39.835178 s,
      deltaX: 3.480634 m,
      approachRate: 0.087376 m/s,
      posRepo size: 4

2025-08-21T06:52:18.456Z,1755759138.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:18.881Z,1755759138.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:19.290Z,1755759139.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:19.709Z,1755759139.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:20.131Z,1755759140.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:20.507Z,1755759140.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:20.938Z,1755759140.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:21.340Z,1755759141.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:21.764Z,1755759141.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:22.182Z,1755759142.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:22.611Z,1755759142.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:23.112Z,1755759143.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:23.525Z,1755759143.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:23.949Z,1755759143.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:24.353Z,1755759144.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:24.758Z,1755759144.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:25.168Z,1755759145.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:25.540Z,1755759145.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:25.964Z,1755759145.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:26.412Z,1755759146.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:26.821Z,1755759146.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:27.190Z,1755759147.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:27.624Z,1755759147.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:28.045Z,1755759148.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:28.434Z,1755759148.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:28.842Z,1755759148.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:29.235Z,1755759149.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:29.629Z,1755759149.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:30.044Z,1755759150.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:30.441Z,1755759150.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:30.860Z,1755759150.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:31.275Z,1755759151.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:31.647Z,1755759151.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:32.077Z,1755759152.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:32.444Z,1755759152.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:32.888Z,1755759152.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:33.260Z,1755759153.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:33.667Z,1755759153.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:34.100Z,1755759154.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:34.497Z,1755759154.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:34.930Z,1755759154.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:35.326Z,1755759155.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:35.722Z,1755759155.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:36.173Z,1755759156.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:36.584Z,1755759156.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:37.023Z,1755759157.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:37.415Z,1755759157.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:37.846Z,1755759157.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:38.331Z,1755759158.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:38.674Z,1755759158.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:39.107Z,1755759159.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:39.530Z,1755759159.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:39.556Z,1755759159.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:52:39.973Z,1755759159.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:40.293Z,1755759160.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:40.560Z,1755759160.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:52:40.706Z,1755759160.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:41.128Z,1755759161.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:41.489Z,1755759161.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:41.956Z,1755759161.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:42.333Z,1755759162.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:42.750Z,1755759162.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:43.186Z,1755759163.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:43.596Z,1755759163.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:44.016Z,1755759164.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:44.376Z,1755759164.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:44.780Z,1755759164.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:45.196Z,1755759165.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:45.579Z,1755759165.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:46.075Z,1755759166.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:46.388Z,1755759166.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:46.804Z,1755759166.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:47.227Z,1755759167.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:47.603Z,1755759167.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:48.081Z,1755759168.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:48.444Z,1755759168.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:48.831Z,1755759168.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:49.257Z,1755759169.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:49.624Z,1755759169.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:50.101Z,1755759170.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:50.435Z,1755759170.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:50.836Z,1755759170.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:51.288Z,1755759171.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:51.704Z,1755759171.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:52.142Z,1755759172.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:52.586Z,1755759172.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:52.925Z,1755759172.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:53.368Z,1755759173.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:53.782Z,1755759173.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:54.212Z,1755759174.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:54.571Z,1755759174.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:54.981Z,1755759174.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:55.405Z,1755759175.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:55.810Z,1755759175.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:56.233Z,1755759176.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:56.645Z,1755759176.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:57.060Z,1755759177.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:57.478Z,1755759177.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:57.851Z,1755759177.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:58.274Z,1755759178.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:58.649Z,1755759178.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:59.060Z,1755759179.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:59.493Z,1755759179.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:52:59.879Z,1755759179.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:00.310Z,1755759180.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:00.725Z,1755759180.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:01.101Z,1755759181.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:01.551Z,1755759181.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:01.923Z,1755759181.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:02.333Z,1755759182.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:02.717Z,1755759182.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:03.120Z,1755759183.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:03.582Z,1755759183.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:03.936Z,1755759183.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:04.369Z,1755759184.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:04.738Z,1755759184.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:05.140Z,1755759185.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:05.568Z,1755759185.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:05.945Z,1755759185.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:06.400Z,1755759186.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:06.768Z,1755759186.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:07.184Z,1755759187.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:07.605Z,1755759187.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:07.970Z,1755759187.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:08.395Z,1755759188.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:08.775Z,1755759188.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:09.191Z,1755759189.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:09.617Z,1755759189.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:10.020Z,1755759190.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:10.430Z,1755759190.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:10.688Z,1755759190.688 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:53:10.837Z,1755759190.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:11.259Z,1755759191.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:11.677Z,1755759191.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:11.692Z,1755759191.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:53:12.060Z,1755759192.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:12.473Z,1755759192.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:12.869Z,1755759192.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:13.260Z,1755759193.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:13.704Z,1755759193.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:14.075Z,1755759194.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:14.509Z,1755759194.509 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:53:14.511Z,1755759194.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:14.536Z,1755759194.536 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:53:14.536Z,1755759194.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:53:14.788Z,1755759194.788 [DAT](INFO): DAT read: user:1973>

2025-08-21T06:53:14.789Z,1755759194.789 [DAT](INFO): DAT read: Tx time:06:53:14.0233

2025-08-21T06:53:14.789Z,1755759194.789 [DAT](INFO): Ping request sent.
2025-08-21T06:53:14.789Z,1755759194.789 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:53:14.789Z,1755759194.789 [DAT](INFO): publishing transmit ping time
2025-08-21T06:53:14.790Z,1755759194.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-08-21T06:53:14.907Z,1755759194.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:15.041Z,1755759195.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251560
2025-08-21T06:53:15.292Z,1755759195.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503119
2025-08-21T06:53:15.318Z,1755759195.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:15.545Z,1755759195.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755787
2025-08-21T06:53:15.740Z,1755759195.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:15.796Z,1755759195.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007045
2025-08-21T06:53:16.048Z,1755759196.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258959
2025-08-21T06:53:16.161Z,1755759196.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:16.300Z,1755759196.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510881
2025-08-21T06:53:16.553Z,1755759196.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763222
2025-08-21T06:53:16.577Z,1755759196.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:16.804Z,1755759196.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014875
2025-08-21T06:53:16.944Z,1755759196.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:17.057Z,1755759197.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267757
2025-08-21T06:53:17.308Z,1755759197.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518863
2025-08-21T06:53:17.371Z,1755759197.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:17.560Z,1755759197.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770929
2025-08-21T06:53:17.777Z,1755759197.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:17.813Z,1755759197.813 [DAT](INFO): DAT read: Rx Time:06:53:16.4612

2025-08-21T06:53:17.813Z,1755759197.813 [DAT](INFO): Rx dataTimestamp_ set to:1755759197.813119
2025-08-21T06:53:17.814Z,1755759197.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024648
2025-08-21T06:53:18.065Z,1755759198.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275181
2025-08-21T06:53:18.234Z,1755759198.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:18.322Z,1755759198.322 [DAT](INFO): DAT read: 06:53:16.4612 LVL= 30128, 24561, 27890, 26099, AGC= 72, IDX=  38,-0.09, 1.747,-2.823, 1.507, 2.197, PHS=-0.348, 1.308,-0.734, RAW= 340.2,  -2.4, CAL= 339.8,  -5.4, ROT= 170.2,   5.4

2025-08-21T06:53:18.326Z,1755759198.326 [DAT](INFO): got valid direction response:
 06:53:16.4612 LVL= 30128, 24561, 27890, 26099, AGC= 72, IDX=  38,-0.09, 1.747,-2.823, 1.507, 2.197, PHS=-0.348, 1.308,-0.734, RAW= 340.2,  -2.4, CAL= 339.8,  -5.4, ROT= 170.2,   5.4

2025-08-21T06:53:18.327Z,1755759198.327 [DAT](INFO): DAT read: $Error in header

2025-08-21T06:53:18.348Z,1755759198.348 [DAT](INFO): Received a bad header
2025-08-21T06:53:18.359Z,1755759198.359 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T06:53:18.360Z,1755759198.360 [DAT](INFO): direction in FSK: [-0.981035,0.169454,-0.094108]
2025-08-21T06:53:18.685Z,1755759198.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:19.077Z,1755759199.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:19.550Z,1755759199.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:19.910Z,1755759199.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:20.287Z,1755759200.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:20.760Z,1755759200.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:21.127Z,1755759201.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:21.581Z,1755759201.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:21.922Z,1755759201.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:22.312Z,1755759202.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:22.738Z,1755759202.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:23.113Z,1755759203.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:23.620Z,1755759203.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:23.991Z,1755759203.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:24.399Z,1755759204.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:24.777Z,1755759204.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:24.896Z,1755759204.896 [DAT](INFO): Reached modem response timeout
2025-08-21T06:53:25.201Z,1755759205.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:25.652Z,1755759205.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:25.986Z,1755759205.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:26.430Z,1755759206.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:26.810Z,1755759206.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:27.180Z,1755759207.180 [DAT](INFO): DAT read: Response Not Received

2025-08-21T06:53:27.181Z,1755759207.181 [DAT](INFO): response not received
2025-08-21T06:53:27.181Z,1755759207.181 [DAT](ERROR): No response from remote modem.
2025-08-21T06:53:27.237Z,1755759207.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:27.686Z,1755759207.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:28.000Z,1755759208.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:28.402Z,1755759208.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:28.832Z,1755759208.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:29.212Z,1755759209.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:29.666Z,1755759209.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:30.035Z,1755759210.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:30.432Z,1755759210.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:30.857Z,1755759210.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:31.228Z,1755759211.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:31.663Z,1755759211.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:32.054Z,1755759212.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:32.443Z,1755759212.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:32.861Z,1755759212.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:33.256Z,1755759213.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:33.693Z,1755759213.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:34.092Z,1755759214.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:34.469Z,1755759214.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:34.889Z,1755759214.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:35.310Z,1755759215.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:35.752Z,1755759215.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:36.098Z,1755759216.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:36.496Z,1755759216.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:36.926Z,1755759216.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:37.292Z,1755759217.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:37.691Z,1755759217.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:38.120Z,1755759218.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:38.529Z,1755759218.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:38.999Z,1755759218.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:39.318Z,1755759219.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:39.731Z,1755759219.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:40.172Z,1755759220.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:40.553Z,1755759220.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:40.978Z,1755759220.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:41.340Z,1755759221.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:41.738Z,1755759221.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:41.813Z,1755759221.813 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:53:42.181Z,1755759222.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:42.537Z,1755759222.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:42.817Z,1755759222.817 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:53:42.980Z,1755759222.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:43.345Z,1755759223.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:43.748Z,1755759223.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:44.189Z,1755759224.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:44.554Z,1755759224.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:45.004Z,1755759225.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:45.375Z,1755759225.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:45.783Z,1755759225.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:46.209Z,1755759226.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:46.579Z,1755759226.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:47.018Z,1755759227.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:47.413Z,1755759227.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:47.789Z,1755759227.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:48.219Z,1755759228.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:48.603Z,1755759228.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:49.035Z,1755759229.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:49.458Z,1755759229.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:49.831Z,1755759229.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:50.250Z,1755759230.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:50.639Z,1755759230.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:51.055Z,1755759231.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:51.446Z,1755759231.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:51.838Z,1755759231.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:52.264Z,1755759232.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:52.646Z,1755759232.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:53.114Z,1755759233.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:53.450Z,1755759233.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:53.862Z,1755759233.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:54.312Z,1755759234.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:54.698Z,1755759234.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:55.105Z,1755759235.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:55.490Z,1755759235.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:55.910Z,1755759235.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:56.319Z,1755759236.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:56.682Z,1755759236.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:57.106Z,1755759237.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:57.505Z,1755759237.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:57.927Z,1755759237.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:58.314Z,1755759238.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:58.704Z,1755759238.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:59.139Z,1755759239.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:59.506Z,1755759239.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:53:59.920Z,1755759239.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:00.343Z,1755759240.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:00.717Z,1755759240.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:01.176Z,1755759241.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:01.540Z,1755759241.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:01.941Z,1755759241.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:02.370Z,1755759242.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:02.744Z,1755759242.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:03.206Z,1755759243.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:03.601Z,1755759243.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:03.992Z,1755759243.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:04.410Z,1755759244.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:04.772Z,1755759244.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:05.217Z,1755759245.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:05.580Z,1755759245.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:05.979Z,1755759245.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:06.434Z,1755759246.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:06.801Z,1755759246.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:07.284Z,1755759247.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:07.591Z,1755759247.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:08.010Z,1755759248.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:08.434Z,1755759248.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:08.868Z,1755759248.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:09.277Z,1755759249.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:09.640Z,1755759249.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:10.046Z,1755759250.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:10.441Z,1755759250.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:10.837Z,1755759250.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:11.308Z,1755759251.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:11.694Z,1755759251.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:12.106Z,1755759252.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:12.520Z,1755759252.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:12.910Z,1755759252.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:12.936Z,1755759252.936 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:54:13.354Z,1755759253.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:13.712Z,1755759253.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:13.940Z,1755759253.940 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:54:14.139Z,1755759254.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:14.548Z,1755759254.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:54:14.549Z,1755759254.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:14.592Z,1755759254.592 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:54:14.592Z,1755759254.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:54:14.845Z,1755759254.845 [DAT](INFO): DAT read: 

2025-08-21T06:54:14.846Z,1755759254.846 [DAT](INFO): DAT read: Tx time:06:54:14.0731

2025-08-21T06:54:14.846Z,1755759254.846 [DAT](INFO): Ping request sent.
2025-08-21T06:54:14.846Z,1755759254.846 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:54:14.847Z,1755759254.847 [DAT](INFO): publishing transmit ping time
2025-08-21T06:54:14.848Z,1755759254.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001546
2025-08-21T06:54:14.954Z,1755759254.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:15.096Z,1755759255.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249977
2025-08-21T06:54:15.349Z,1755759255.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502269
2025-08-21T06:54:15.383Z,1755759255.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:15.600Z,1755759255.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753759
2025-08-21T06:54:15.733Z,1755759255.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:15.852Z,1755759255.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005906
2025-08-21T06:54:16.104Z,1755759256.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257794
2025-08-21T06:54:16.167Z,1755759256.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:16.356Z,1755759256.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509899
2025-08-21T06:54:16.564Z,1755759256.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:16.609Z,1755759256.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762672
2025-08-21T06:54:16.860Z,1755759256.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013775
2025-08-21T06:54:16.944Z,1755759256.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:17.112Z,1755759257.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265764
2025-08-21T06:54:17.364Z,1755759257.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517965
2025-08-21T06:54:17.407Z,1755759257.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:17.616Z,1755759257.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769996
2025-08-21T06:54:17.764Z,1755759257.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:17.868Z,1755759257.868 [DAT](INFO): DAT read: Rx Time:06:54:16.5228

2025-08-21T06:54:17.869Z,1755759257.869 [DAT](INFO): Rx dataTimestamp_ set to:1755759257.868434
2025-08-21T06:54:17.869Z,1755759257.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022921
2025-08-21T06:54:18.120Z,1755759258.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273891
2025-08-21T06:54:18.196Z,1755759258.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m.
2025-08-21T06:54:18.382Z,1755759258.382 [DAT](INFO): DAT read: 06:54:16.5228 LVL= 32752, 21937, 32754, 32755, AGC= 67, IDX=  31, 0.05, 1.001, 2.642, 0.649, 1.564, PHS=-0.461, 1.123,-0.958, RAW= 343.2,   3.2, CAL= 342.8,   0.4, ROT= 167.2,  -0.4

2025-08-21T06:54:18.383Z,1755759258.383 [DAT](INFO): got valid direction response:
 06:54:16.5228 LVL= 32752, 21937, 32754, 32755, AGC= 67, IDX=  31, 0.05, 1.001, 2.642, 0.649, 1.564, PHS=-0.461, 1.123,-0.958, RAW= 343.2,   3.2, CAL= 342.8,   0.4, ROT= 167.2,  -0.4

2025-08-21T06:54:18.384Z,1755759258.384 [DAT](INFO): DAT read: Bearing 286.1,  11.2 (Local)

2025-08-21T06:54:18.384Z,1755759258.384 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.1,  11.2 (Local)

2025-08-21T06:54:18.386Z,1755759258.386 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m  (Round-trip  45.6 ms) speed  0.0 m/s

2025-08-21T06:54:18.386Z,1755759258.386 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:54:18.388Z,1755759258.388 [DAT](INFO): direction in FSK: [-0.975126,0.221543,0.006981]
2025-08-21T06:54:18.388Z,1755759258.388 [DAT](INFO): publishing direction and range info
2025-08-21T06:54:18.605Z,1755759258.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.200001 m,
      deltaT: 120.097110 s,
      deltaX: 16.600000 m,
      approachRate: 0.138221 m/s,
      rangeRepo size: 4

2025-08-21T06:54:18.607Z,1755759258.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.013077 m,
      bearing: 117.129299 deg,
      lat: 36.779373 deg,
      lon: -121.859456 deg,
      deltaT: 120.097110 s,
      deltaX: 16.509462 m,
      approachRate: 0.137468 m/s,
      posRepo size: 4

2025-08-21T06:54:18.608Z,1755759258.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:18.974Z,1755759258.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:19.441Z,1755759259.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:19.796Z,1755759259.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:20.212Z,1755759260.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:20.608Z,1755759260.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:20.998Z,1755759260.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:21.482Z,1755759261.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:21.797Z,1755759261.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:22.212Z,1755759262.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:22.636Z,1755759262.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:23.015Z,1755759263.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:23.477Z,1755759263.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:23.846Z,1755759263.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:24.243Z,1755759264.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:24.662Z,1755759264.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:25.030Z,1755759265.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:25.504Z,1755759265.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:25.860Z,1755759265.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:26.274Z,1755759266.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:26.702Z,1755759266.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:27.119Z,1755759267.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:27.538Z,1755759267.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:27.891Z,1755759267.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:28.280Z,1755759268.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:28.688Z,1755759268.688 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +161.88,     ,33.46,   8.70,  0.00
2025-08-21T06:54:28.703Z,1755759268.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:29.090Z,1755759269.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:29.570Z,1755759269.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:29.896Z,1755759269.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:30.314Z,1755759270.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:30.728Z,1755759270.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:31.119Z,1755759271.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:31.574Z,1755759271.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:31.971Z,1755759271.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:32.347Z,1755759272.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:32.810Z,1755759272.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:33.178Z,1755759273.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:33.604Z,1755759273.604 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,0002261058,   0.0,1492.9,  0
2025-08-21T06:54:33.634Z,1755759273.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:33.989Z,1755759273.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:34.376Z,1755759274.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:34.822Z,1755759274.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:35.200Z,1755759275.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:35.667Z,1755759275.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:35.999Z,1755759275.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:36.397Z,1755759276.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:36.835Z,1755759276.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:37.221Z,1755759277.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:37.659Z,1755759277.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:38.062Z,1755759278.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:38.425Z,1755759278.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:38.848Z,1755759278.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:39.217Z,1755759279.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:39.678Z,1755759279.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:40.045Z,1755759280.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:40.424Z,1755759280.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:40.880Z,1755759280.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:41.262Z,1755759281.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:41.641Z,1755759281.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:42.061Z,1755759282.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:42.450Z,1755759282.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:42.879Z,1755759282.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:43.281Z,1755759283.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:43.661Z,1755759283.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:44.068Z,1755759284.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:54:44.087Z,1755759284.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:44.483Z,1755759284.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:44.906Z,1755759284.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:45.072Z,1755759285.072 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:54:45.283Z,1755759285.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:45.692Z,1755759285.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:46.110Z,1755759286.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:46.492Z,1755759286.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:46.918Z,1755759286.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:47.303Z,1755759287.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:47.728Z,1755759287.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:48.139Z,1755759288.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:48.506Z,1755759288.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:48.940Z,1755759288.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:49.312Z,1755759289.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:49.716Z,1755759289.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:50.143Z,1755759290.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:50.535Z,1755759290.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:50.960Z,1755759290.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:51.332Z,1755759291.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:51.752Z,1755759291.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:52.176Z,1755759292.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:52.545Z,1755759292.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:52.985Z,1755759292.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:53.354Z,1755759293.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:53.764Z,1755759293.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:54.196Z,1755759294.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:54.567Z,1755759294.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:54.997Z,1755759294.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:55.388Z,1755759295.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:55.777Z,1755759295.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:56.248Z,1755759296.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:56.592Z,1755759296.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:57.017Z,1755759297.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:57.392Z,1755759297.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:57.797Z,1755759297.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:58.260Z,1755759298.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:58.618Z,1755759298.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:59.035Z,1755759299.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:59.419Z,1755759299.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:54:59.818Z,1755759299.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:00.259Z,1755759300.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:00.623Z,1755759300.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:01.067Z,1755759301.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:01.439Z,1755759301.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:01.842Z,1755759301.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:02.276Z,1755759302.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:02.644Z,1755759302.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:03.095Z,1755759303.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:03.459Z,1755759303.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:03.856Z,1755759303.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:04.285Z,1755759304.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:04.684Z,1755759304.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:05.114Z,1755759305.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:05.472Z,1755759305.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:05.878Z,1755759305.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:06.316Z,1755759306.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:06.713Z,1755759306.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:07.152Z,1755759307.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:07.493Z,1755759307.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:07.905Z,1755759307.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:08.334Z,1755759308.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:08.713Z,1755759308.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:09.207Z,1755759309.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:09.519Z,1755759309.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:09.935Z,1755759309.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:10.360Z,1755759310.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:10.726Z,1755759310.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:11.216Z,1755759311.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:11.557Z,1755759311.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:11.936Z,1755759311.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:12.364Z,1755759312.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:12.752Z,1755759312.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:13.230Z,1755759313.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:13.601Z,1755759313.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:13.602Z,1755759313.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 34.20 m and bearing: 112.621107 deg. Not drifting fast enough.
2025-08-21T06:55:13.959Z,1755759313.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:13.961Z,1755759313.961 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-21T06:55:13.961Z,1755759313.961 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-21T06:55:13.961Z,1755759313.961 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-21T06:55:13.961Z,1755759313.961 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-21T06:55:14.388Z,1755759314.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:14.781Z,1755759314.781 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:55:14.782Z,1755759314.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:14.848Z,1755759314.848 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:55:14.848Z,1755759314.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:55:15.100Z,1755759315.100 [DAT](INFO): DAT read: user:1975>

2025-08-21T06:55:15.101Z,1755759315.101 [DAT](INFO): DAT read: Tx time:06:55:14.3228

2025-08-21T06:55:15.101Z,1755759315.101 [DAT](INFO): Ping request sent.
2025-08-21T06:55:15.101Z,1755759315.101 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:55:15.101Z,1755759315.101 [DAT](INFO): publishing transmit ping time
2025-08-21T06:55:15.102Z,1755759315.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-21T06:55:15.201Z,1755759315.201 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:55:15.308Z,1755759315.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:15.352Z,1755759315.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251067
2025-08-21T06:55:15.604Z,1755759315.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502953
2025-08-21T06:55:15.708Z,1755759315.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:15.857Z,1755759315.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755432
2025-08-21T06:55:16.098Z,1755759316.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:16.108Z,1755759316.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007104
2025-08-21T06:55:16.206Z,1755759316.206 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:55:16.362Z,1755759316.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260334
2025-08-21T06:55:16.612Z,1755759316.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511186
2025-08-21T06:55:16.629Z,1755759316.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:16.864Z,1755759316.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762996
2025-08-21T06:55:16.993Z,1755759316.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:17.117Z,1755759317.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016095
2025-08-21T06:55:17.368Z,1755759317.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267012
2025-08-21T06:55:17.437Z,1755759317.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:17.620Z,1755759317.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519039
2025-08-21T06:55:17.801Z,1755759317.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:17.873Z,1755759317.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771695
2025-08-21T06:55:18.124Z,1755759318.124 [DAT](INFO): DAT read: Rx Time:06:55:16.7848

2025-08-21T06:55:18.125Z,1755759318.125 [DAT](INFO): Rx dataTimestamp_ set to:1755759318.124414
2025-08-21T06:55:18.125Z,1755759318.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024023
2025-08-21T06:55:18.337Z,1755759318.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T06:55:18.376Z,1755759318.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275073
2025-08-21T06:55:18.638Z,1755759318.638 [DAT](INFO): DAT read: 06:55:16.7848 LVL= 25680, 16065, 30034, 28563, AGC= 67, IDX=  62,-0.42,-1.808,-0.190,-2.282,-1.350, PHS=-0.356, 1.205,-0.976, RAW= 346.0,   1.3, CAL= 345.6,  -1.7, ROT= 164.4,   1.7

2025-08-21T06:55:18.640Z,1755759318.640 [DAT](INFO): got valid direction response:
 06:55:16.7848 LVL= 25680, 16065, 30034, 28563, AGC= 67, IDX=  62,-0.42,-1.808,-0.190,-2.282,-1.350, PHS=-0.356, 1.205,-0.976, RAW= 346.0,   1.3, CAL= 345.6,  -1.7, ROT= 164.4,   1.7

2025-08-21T06:55:18.642Z,1755759318.642 [DAT](INFO): DAT read: Bearing 286.7,  15.3 (Local)

2025-08-21T06:55:18.643Z,1755759318.643 [DAT](INFO): Local bearing/azimuth received:
 Bearing 286.7,  15.3 (Local)

2025-08-21T06:55:18.646Z,1755759318.646 [DAT](INFO): DAT read: Range 11 to 50 : 43.4 m  (Round-trip  57.9 ms) speed -0.2 m/s

2025-08-21T06:55:18.646Z,1755759318.646 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:55:18.650Z,1755759318.650 [DAT](INFO): direction in FSK: [-0.962739,0.268802,-0.029666]
2025-08-21T06:55:18.651Z,1755759318.651 [DAT](INFO): publishing direction and range info
2025-08-21T06:55:18.784Z,1755759318.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.400002 m,
      deltaT: 60.255861 s,
      deltaX: 9.200001 m,
      approachRate: 0.152682 m/s,
      rangeRepo size: 4

2025-08-21T06:55:18.786Z,1755759318.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.163055 m,
      bearing: 114.346126 deg,
      lat: 36.779373 deg,
      lon: -121.859456 deg,
      deltaT: 60.255861 s,
      deltaX: 9.149979 m,
      approachRate: 0.151852 m/s,
      posRepo size: 4

2025-08-21T06:55:18.786Z,1755759318.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:19.185Z,1755759319.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:19.571Z,1755759319.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:19.943Z,1755759319.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:20.387Z,1755759320.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:20.767Z,1755759320.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:21.190Z,1755759321.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:21.594Z,1755759321.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:22.113Z,1755759322.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:22.529Z,1755759322.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:22.966Z,1755759322.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:23.392Z,1755759323.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:23.780Z,1755759323.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:24.202Z,1755759324.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:24.626Z,1755759324.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:24.987Z,1755759324.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:25.424Z,1755759325.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:25.793Z,1755759325.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:26.205Z,1755759326.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:26.645Z,1755759326.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:27.015Z,1755759327.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:27.447Z,1755759327.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:27.831Z,1755759327.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:28.227Z,1755759328.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:28.661Z,1755759328.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:29.024Z,1755759329.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:29.490Z,1755759329.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:29.833Z,1755759329.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:30.250Z,1755759330.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:30.676Z,1755759330.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:31.050Z,1755759331.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:31.503Z,1755759331.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:31.860Z,1755759331.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:32.273Z,1755759332.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:32.758Z,1755759332.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:33.073Z,1755759333.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:33.546Z,1755759333.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:33.900Z,1755759333.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:34.281Z,1755759334.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:34.699Z,1755759334.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:35.106Z,1755759335.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:35.575Z,1755759335.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:35.893Z,1755759335.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:36.323Z,1755759336.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:36.725Z,1755759336.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:37.134Z,1755759337.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:37.614Z,1755759337.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:37.978Z,1755759337.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:38.402Z,1755759338.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:38.855Z,1755759338.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:39.216Z,1755759339.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:39.662Z,1755759339.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:39.996Z,1755759339.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:40.412Z,1755759340.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:40.852Z,1755759340.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:41.208Z,1755759341.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:41.671Z,1755759341.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:42.027Z,1755759342.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:42.420Z,1755759342.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:42.869Z,1755759342.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:43.231Z,1755759343.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:43.662Z,1755759343.662 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022610430228,35.0, +10.7,  2.7, ,  0.00,  75.76,  78.74
2025-08-21T06:55:43.678Z,1755759343.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:44.070Z,1755759344.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:44.452Z,1755759344.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:44.877Z,1755759344.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:45.262Z,1755759345.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:45.705Z,1755759345.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:46.082Z,1755759346.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:46.328Z,1755759346.328 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:55:46.480Z,1755759346.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:46.910Z,1755759346.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:47.270Z,1755759347.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:47.332Z,1755759347.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:55:47.754Z,1755759347.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:48.116Z,1755759348.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:48.515Z,1755759348.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:48.945Z,1755759348.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:49.409Z,1755759349.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:49.832Z,1755759349.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:50.252Z,1755759350.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:50.677Z,1755759350.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:51.097Z,1755759351.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:51.467Z,1755759351.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:51.888Z,1755759351.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:52.274Z,1755759352.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:52.809Z,1755759352.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:53.135Z,1755759353.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:53.535Z,1755759353.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:53.970Z,1755759353.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:54.434Z,1755759354.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:54.873Z,1755759354.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:55.315Z,1755759355.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:55.720Z,1755759355.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:56.150Z,1755759356.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:56.536Z,1755759356.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:56.973Z,1755759356.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:57.334Z,1755759357.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:57.743Z,1755759357.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:58.176Z,1755759358.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:58.602Z,1755759358.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:58.975Z,1755759358.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:59.359Z,1755759359.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:55:59.771Z,1755759359.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:00.254Z,1755759360.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:00.623Z,1755759360.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:01.091Z,1755759361.091 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -99,  +803,   :BE,   -99,  +803,   +22,A
2025-08-21T06:56:01.106Z,1755759361.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:01.605Z,1755759361.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:02.042Z,1755759362.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:02.405Z,1755759362.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:02.807Z,1755759362.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:03.242Z,1755759363.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:03.650Z,1755759363.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:04.082Z,1755759364.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:04.430Z,1755759364.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:04.833Z,1755759364.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:05.253Z,1755759365.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:05.639Z,1755759365.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:06.094Z,1755759366.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:06.446Z,1755759366.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:07.068Z,1755759367.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:07.586Z,1755759367.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:08.090Z,1755759368.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:08.441Z,1755759368.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:08.872Z,1755759368.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:09.315Z,1755759369.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:09.683Z,1755759369.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:10.120Z,1755759370.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:10.477Z,1755759370.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:10.866Z,1755759370.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:11.309Z,1755759371.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:11.678Z,1755759371.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:12.144Z,1755759372.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:12.512Z,1755759372.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:12.932Z,1755759372.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:13.318Z,1755759373.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:13.709Z,1755759373.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:14.228Z,1755759374.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:14.594Z,1755759374.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:15.134Z,1755759375.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:56:15.136Z,1755759375.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:15.344Z,1755759375.344 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:56:15.345Z,1755759375.345 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:56:15.481Z,1755759375.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:15.596Z,1755759375.596 [DAT](INFO): DAT read: user:1976>

2025-08-21T06:56:15.597Z,1755759375.597 [DAT](INFO): DAT read: Tx time:06:56:14.8226

2025-08-21T06:56:15.597Z,1755759375.597 [DAT](INFO): Ping request sent.
2025-08-21T06:56:15.597Z,1755759375.597 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:56:15.598Z,1755759375.598 [DAT](INFO): publishing transmit ping time
2025-08-21T06:56:15.598Z,1755759375.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-21T06:56:15.848Z,1755759375.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250752
2025-08-21T06:56:15.900Z,1755759375.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:16.104Z,1755759376.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505335
2025-08-21T06:56:16.320Z,1755759376.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:16.353Z,1755759376.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755398
2025-08-21T06:56:16.604Z,1755759376.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006807
2025-08-21T06:56:16.686Z,1755759376.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:16.856Z,1755759376.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258721
2025-08-21T06:56:17.111Z,1755759377.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512960
2025-08-21T06:56:17.201Z,1755759377.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:17.360Z,1755759377.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762621
2025-08-21T06:56:17.456Z,1755759377.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:56:17.565Z,1755759377.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:17.613Z,1755759377.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015115
2025-08-21T06:56:17.864Z,1755759377.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266737
2025-08-21T06:56:17.979Z,1755759377.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:18.119Z,1755759378.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520889
2025-08-21T06:56:18.368Z,1755759378.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770804
2025-08-21T06:56:18.374Z,1755759378.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:18.460Z,1755759378.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:56:18.621Z,1755759378.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023154
2025-08-21T06:56:18.763Z,1755759378.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:18.872Z,1755759378.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274670
2025-08-21T06:56:19.137Z,1755759379.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538674
2025-08-21T06:56:19.230Z,1755759379.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:19.376Z,1755759379.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778765
2025-08-21T06:56:19.564Z,1755759379.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:19.629Z,1755759379.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031151
2025-08-21T06:56:19.880Z,1755759379.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282722
2025-08-21T06:56:19.970Z,1755759379.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:20.135Z,1755759380.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536865
2025-08-21T06:56:20.384Z,1755759380.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786773
2025-08-21T06:56:20.397Z,1755759380.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:20.637Z,1755759380.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039259
2025-08-21T06:56:20.793Z,1755759380.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:20.888Z,1755759380.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290789
2025-08-21T06:56:21.144Z,1755759381.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545317
2025-08-21T06:56:21.234Z,1755759381.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:21.392Z,1755759381.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794906
2025-08-21T06:56:21.593Z,1755759381.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:21.646Z,1755759381.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048011
2025-08-21T06:56:21.896Z,1755759381.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298687
2025-08-21T06:56:22.068Z,1755759382.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:22.153Z,1755759382.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554265
2025-08-21T06:56:22.400Z,1755759382.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802828
2025-08-21T06:56:22.446Z,1755759382.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:22.652Z,1755759382.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054732
2025-08-21T06:56:22.839Z,1755759382.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:22.911Z,1755759382.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313043
2025-08-21T06:56:23.163Z,1755759383.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565151
2025-08-21T06:56:23.277Z,1755759383.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:23.412Z,1755759383.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814762
2025-08-21T06:56:23.664Z,1755759383.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066821
2025-08-21T06:56:23.667Z,1755759383.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:23.916Z,1755759383.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318755
2025-08-21T06:56:24.035Z,1755759384.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:24.171Z,1755759384.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572826
2025-08-21T06:56:24.420Z,1755759384.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822840
2025-08-21T06:56:24.478Z,1755759384.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:24.672Z,1755759384.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074769
2025-08-21T06:56:24.840Z,1755759384.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:24.925Z,1755759384.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327572
2025-08-21T06:56:25.180Z,1755759385.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581456
2025-08-21T06:56:25.308Z,1755759385.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:25.428Z,1755759385.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830769
2025-08-21T06:56:25.674Z,1755759385.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:25.680Z,1755759385.680 [DAT](INFO): Reached modem response timeout
2025-08-21T06:56:26.082Z,1755759386.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:26.478Z,1755759386.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:26.866Z,1755759386.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:27.314Z,1755759387.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:27.666Z,1755759387.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:27.948Z,1755759387.948 [DAT](INFO): DAT read: Response Not Received

2025-08-21T06:56:27.949Z,1755759387.949 [DAT](INFO): response not received
2025-08-21T06:56:27.949Z,1755759387.949 [DAT](ERROR): No response from remote modem.
2025-08-21T06:56:28.075Z,1755759388.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:28.536Z,1755759388.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:28.876Z,1755759388.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:29.343Z,1755759389.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:29.710Z,1755759389.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:30.093Z,1755759390.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:30.537Z,1755759390.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:30.902Z,1755759390.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:31.376Z,1755759391.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:31.732Z,1755759391.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:32.122Z,1755759392.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:32.542Z,1755759392.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:32.930Z,1755759392.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:33.447Z,1755759393.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:33.817Z,1755759393.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:34.207Z,1755759394.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:34.628Z,1755759394.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:35.021Z,1755759395.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:35.453Z,1755759395.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:35.847Z,1755759395.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:36.297Z,1755759396.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:36.686Z,1755759396.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:37.057Z,1755759397.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:37.498Z,1755759397.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:37.863Z,1755759397.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:38.270Z,1755759398.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:38.706Z,1755759398.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:39.094Z,1755759399.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:39.521Z,1755759399.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:39.885Z,1755759399.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:40.311Z,1755759400.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:40.724Z,1755759400.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:41.095Z,1755759401.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:41.526Z,1755759401.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:41.918Z,1755759401.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:42.311Z,1755759402.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:42.742Z,1755759402.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:43.136Z,1755759403.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:43.568Z,1755759403.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:43.975Z,1755759403.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:44.357Z,1755759404.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:44.772Z,1755759404.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:45.178Z,1755759405.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:45.591Z,1755759405.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:45.973Z,1755759405.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:46.377Z,1755759406.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:46.807Z,1755759406.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:47.186Z,1755759407.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:47.635Z,1755759407.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:47.992Z,1755759407.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:48.405Z,1755759408.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:48.585Z,1755759408.585 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:56:48.823Z,1755759408.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:49.202Z,1755759409.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:49.589Z,1755759409.589 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:56:49.661Z,1755759409.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:50.122Z,1755759410.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:50.728Z,1755759410.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:51.190Z,1755759411.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:51.644Z,1755759411.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:52.019Z,1755759412.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:52.378Z,1755759412.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:52.806Z,1755759412.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:53.204Z,1755759413.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:53.664Z,1755759413.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:53.997Z,1755759413.997 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS,   -84,  +815,
2025-08-21T06:56:54.012Z,1755759414.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:54.441Z,1755759414.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:54.842Z,1755759414.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:55.210Z,1755759415.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:55.626Z,1755759415.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:56.043Z,1755759416.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:56.457Z,1755759416.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:56.842Z,1755759416.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:57.230Z,1755759417.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:57.644Z,1755759417.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:58.068Z,1755759418.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:58.447Z,1755759418.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:58.864Z,1755759418.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:59.261Z,1755759419.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:56:59.649Z,1755759419.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:00.084Z,1755759420.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:00.486Z,1755759420.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:00.976Z,1755759420.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:01.469Z,1755759421.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:01.956Z,1755759421.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:02.313Z,1755759422.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:02.720Z,1755759422.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:03.165Z,1755759423.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:03.525Z,1755759423.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:03.951Z,1755759423.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:04.343Z,1755759424.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:04.728Z,1755759424.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:05.229Z,1755759425.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:05.563Z,1755759425.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:05.982Z,1755759425.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:06.391Z,1755759426.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:06.752Z,1755759426.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:07.191Z,1755759427.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:07.558Z,1755759427.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:07.994Z,1755759427.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:08.376Z,1755759428.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:08.778Z,1755759428.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:09.211Z,1755759429.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:09.653Z,1755759429.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:10.101Z,1755759430.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:10.520Z,1755759430.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:10.972Z,1755759430.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:11.386Z,1755759431.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:11.774Z,1755759431.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:12.205Z,1755759432.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:12.578Z,1755759432.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:13.020Z,1755759433.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:13.394Z,1755759433.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:13.802Z,1755759433.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:14.225Z,1755759434.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:14.601Z,1755759434.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:15.032Z,1755759435.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:15.416Z,1755759435.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:15.418Z,1755759435.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:15.605Z,1755759435.605 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:57:15.605Z,1755759435.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:15.811Z,1755759435.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:15.858Z,1755759435.858 [DAT](INFO): DAT read: user:1977>

2025-08-21T06:57:15.859Z,1755759435.859 [DAT](INFO): DAT read: Tx time:06:57:15.0724

2025-08-21T06:57:15.860Z,1755759435.860 [DAT](INFO): Ping request sent.
2025-08-21T06:57:15.860Z,1755759435.860 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:57:15.860Z,1755759435.860 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:15.861Z,1755759435.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001416
2025-08-21T06:57:16.109Z,1755759436.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248725
2025-08-21T06:57:16.234Z,1755759436.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:16.361Z,1755759436.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500922
2025-08-21T06:57:16.612Z,1755759436.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752521
2025-08-21T06:57:16.617Z,1755759436.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:16.866Z,1755759436.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005732
2025-08-21T06:57:17.067Z,1755759437.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:17.117Z,1755759437.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257219
2025-08-21T06:57:17.368Z,1755759437.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508441
2025-08-21T06:57:17.432Z,1755759437.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:17.621Z,1755759437.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760910
2025-08-21T06:57:17.841Z,1755759437.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:17.872Z,1755759437.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012386
2025-08-21T06:57:18.124Z,1755759438.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264655
2025-08-21T06:57:18.270Z,1755759438.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:18.377Z,1755759438.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517073
2025-08-21T06:57:18.628Z,1755759438.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768342
2025-08-21T06:57:18.696Z,1755759438.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:18.881Z,1755759438.881 [DAT](INFO): DAT read: Rx Time:06:57:17.6929

2025-08-21T06:57:18.882Z,1755759438.882 [DAT](INFO): Rx dataTimestamp_ set to:1755759438.881200
2025-08-21T06:57:18.883Z,1755759438.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022571
2025-08-21T06:57:19.132Z,1755759439.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272422
2025-08-21T06:57:19.260Z,1755759439.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.16 m.
2025-08-21T06:57:19.388Z,1755759439.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527535
2025-08-21T06:57:19.644Z,1755759439.644 [DAT](INFO): DAT read: 06:57:17.6928 LVL= 32752, 32753, 32754, 31667, AGC= 70, IDX= 483,-0.02, 0.980, 1.912, 1.196, 0.214, PHS= 0.868, 1.743, 0.938, RAW= 325.9, -56.1, CAL= 324.0, -58.5, ROT= 186.0,  58.5

2025-08-21T06:57:19.645Z,1755759439.645 [DAT](INFO): got valid direction response:
 06:57:17.6928 LVL= 32752, 32753, 32754, 31667, AGC= 70, IDX= 483,-0.02, 0.980, 1.912, 1.196, 0.214, PHS= 0.868, 1.743, 0.938, RAW= 325.9, -56.1, CAL= 324.0, -58.5, ROT= 186.0,  58.5

2025-08-21T06:57:19.646Z,1755759439.646 [DAT](INFO): DAT read: Bearing 309.9,  -1.8 (Local)

2025-08-21T06:57:19.646Z,1755759439.646 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.9,  -1.8 (Local)

2025-08-21T06:57:19.648Z,1755759439.648 [DAT](INFO): DAT read: Range 11 to 50 : 162.3 m  (Round-trip  216.4 ms) speed -0.8 m/s

2025-08-21T06:57:19.648Z,1755759439.648 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:57:19.649Z,1755759439.649 [DAT](INFO): direction in FSK: [-0.519636,-0.054616,-0.852640]
2025-08-21T06:57:19.650Z,1755759439.650 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:19.708Z,1755759439.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:57:19.862Z,1755759439.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 162.300003 m,
      deltaT: 121.008353 s,
      deltaX: 118.900002 m,
      approachRate: 0.982577 m/s,
      rangeRepo size: 4

2025-08-21T06:57:19.864Z,1755759439.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.420013 m,
      bearing: 113.732119 deg,
      lat: 36.779374 deg,
      lon: -121.859466 deg,
      deltaT: 121.008353 s,
      deltaX: 118.256958 m,
      approachRate: 0.977263 m/s,
      posRepo size: 4

2025-08-21T06:57:19.865Z,1755759439.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.42 m.
2025-08-21T06:57:19.865Z,1755759439.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 162.30 m. Resuming terminal guidance.
2025-08-21T06:57:19.865Z,1755759439.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-21T06:57:20.253Z,1755759440.253 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-21T06:57:20.253Z,1755759440.253 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-21T06:57:20.253Z,1755759440.253 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-21T06:57:20.254Z,1755759440.254 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 162.300003 m (mode  1.000000 count ).
2025-08-21T06:57:20.255Z,1755759440.255 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-21T06:57:20.255Z,1755759440.255 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-21T06:57:20.615Z,1755759440.615 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-21T06:57:20.616Z,1755759440.616 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-21T06:57:20.616Z,1755759440.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:20.644Z,1755759440.644 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:20.644Z,1755759440.644 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:20.644Z,1755759440.644 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:20.712Z,1755759440.712 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:57:20.900Z,1755759440.900 [DAT](INFO): DAT read: user:1978>

2025-08-21T06:57:20.901Z,1755759440.901 [DAT](INFO): DAT read: Tx time:06:57:20.1223

2025-08-21T06:57:20.901Z,1755759440.901 [DAT](INFO): Ping request sent.
2025-08-21T06:57:20.901Z,1755759440.901 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:57:20.901Z,1755759440.901 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:20.902Z,1755759440.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-08-21T06:57:21.074Z,1755759441.074 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-21T06:57:21.075Z,1755759441.075 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-21T06:57:21.150Z,1755759441.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248276
2025-08-21T06:57:21.400Z,1755759441.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499095
2025-08-21T06:57:21.440Z,1755759441.440 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-21T06:57:21.440Z,1755759441.440 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-21T06:57:21.440Z,1755759441.440 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-21T06:57:21.440Z,1755759441.440 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-21T06:57:21.652Z,1755759441.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750930
2025-08-21T06:57:21.904Z,1755759441.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002949
2025-08-21T06:57:22.157Z,1755759442.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255482
2025-08-21T06:57:22.408Z,1755759442.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506980
2025-08-21T06:57:22.661Z,1755759442.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759675
2025-08-21T06:57:22.912Z,1755759442.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010975
2025-08-21T06:57:23.027Z,1755759443.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:23.165Z,1755759443.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263537
2025-08-21T06:57:23.416Z,1755759443.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514892
2025-08-21T06:57:23.669Z,1755759443.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767449
2025-08-21T06:57:23.921Z,1755759443.921 [DAT](INFO): DAT read: Rx Time:06:57:22.7482

2025-08-21T06:57:23.922Z,1755759443.922 [DAT](INFO): Rx dataTimestamp_ set to:1755759443.921395
2025-08-21T06:57:23.922Z,1755759443.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020973
2025-08-21T06:57:24.173Z,1755759444.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271625
2025-08-21T06:57:24.428Z,1755759444.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526123
2025-08-21T06:57:24.682Z,1755759444.682 [DAT](INFO): DAT read: 06:57:22.7482 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 476,-0.23,-3.127,-1.138,-3.010,-2.499, PHS=-0.526, 1.406,-0.555, RAW= 330.7,  -3.4, CAL= 330.0,  -6.4, ROT= 180.0,   6.4

2025-08-21T06:57:24.683Z,1755759444.683 [DAT](INFO): got valid direction response:
 06:57:22.7482 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 476,-0.23,-3.127,-1.138,-3.010,-2.499, PHS=-0.526, 1.406,-0.555, RAW= 330.7,  -3.4, CAL= 330.0,  -6.4, ROT= 180.0,   6.4

2025-08-21T06:57:24.684Z,1755759444.684 [DAT](INFO): DAT read: $Error in header

2025-08-21T06:57:24.684Z,1755759444.684 [DAT](INFO): Received a bad header
2025-08-21T06:57:24.696Z,1755759444.696 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T06:57:24.697Z,1755759444.697 [DAT](INFO): direction in FSK: [-0.993768,-0.000000,-0.111469]
2025-08-21T06:57:24.700Z,1755759444.700 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:24.700Z,1755759444.700 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:24.700Z,1755759444.700 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:24.929Z,1755759444.929 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:24.930Z,1755759444.930 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:24.930Z,1755759444.930 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:25.180Z,1755759445.180 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:25.180Z,1755759445.180 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:25.180Z,1755759445.180 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:25.432Z,1755759445.432 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:25.432Z,1755759445.432 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:25.432Z,1755759445.432 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:25.474Z,1755759445.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:25.685Z,1755759445.685 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:25.685Z,1755759445.685 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:25.685Z,1755759445.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:25.941Z,1755759445.941 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:25.941Z,1755759445.941 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:25.941Z,1755759445.941 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:26.192Z,1755759446.192 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:26.192Z,1755759446.192 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:26.192Z,1755759446.192 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:26.444Z,1755759446.444 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:26.444Z,1755759446.444 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:26.444Z,1755759446.444 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:26.697Z,1755759446.697 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:26.697Z,1755759446.697 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:26.697Z,1755759446.697 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:26.951Z,1755759446.951 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:26.952Z,1755759446.952 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:26.952Z,1755759446.952 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:27.200Z,1755759447.200 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:27.200Z,1755759447.200 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:27.200Z,1755759447.200 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:27.452Z,1755759447.452 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:27.452Z,1755759447.452 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:27.452Z,1755759447.452 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:27.498Z,1755759447.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:27.704Z,1755759447.704 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:27.704Z,1755759447.704 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:27.704Z,1755759447.704 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:27.956Z,1755759447.956 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:27.956Z,1755759447.956 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:27.956Z,1755759447.956 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:28.209Z,1755759448.209 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:28.209Z,1755759448.209 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:28.209Z,1755759448.209 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:28.461Z,1755759448.461 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:28.461Z,1755759448.461 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:28.461Z,1755759448.461 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:28.712Z,1755759448.712 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:28.712Z,1755759448.712 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:28.712Z,1755759448.712 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:28.964Z,1755759448.964 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:28.964Z,1755759448.964 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:28.964Z,1755759448.964 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:29.216Z,1755759449.216 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:29.216Z,1755759449.216 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:29.216Z,1755759449.216 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:29.469Z,1755759449.469 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:29.469Z,1755759449.469 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:29.469Z,1755759449.469 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:29.593Z,1755759449.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:29.720Z,1755759449.720 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:29.720Z,1755759449.720 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:29.720Z,1755759449.720 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:29.972Z,1755759449.972 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:29.972Z,1755759449.972 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:29.972Z,1755759449.972 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:30.224Z,1755759450.224 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:30.224Z,1755759450.224 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:30.224Z,1755759450.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:30.477Z,1755759450.477 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:30.477Z,1755759450.477 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:30.477Z,1755759450.477 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:30.728Z,1755759450.728 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:30.728Z,1755759450.728 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:30.728Z,1755759450.728 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:57:30.980Z,1755759450.980 [DAT](INFO): Reached modem response timeout
2025-08-21T06:57:30.980Z,1755759450.980 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:57:30.980Z,1755759450.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:31.232Z,1755759451.232 [DAT](INFO): DAT read: 

2025-08-21T06:57:31.232Z,1755759451.232 [DAT](INFO): Reached modem response timeout
2025-08-21T06:57:31.233Z,1755759451.233 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:57:31.233Z,1755759451.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:31.484Z,1755759451.484 [DAT](INFO): Reached modem response timeout
2025-08-21T06:57:31.484Z,1755759451.484 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:57:31.484Z,1755759451.484 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:31.648Z,1755759451.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:31.741Z,1755759451.741 [DAT](INFO): Reached modem response timeout
2025-08-21T06:57:31.741Z,1755759451.741 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:57:31.742Z,1755759451.742 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:31.992Z,1755759451.992 [DAT](INFO): Reached modem response timeout
2025-08-21T06:57:31.992Z,1755759451.992 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:57:31.992Z,1755759451.992 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:32.244Z,1755759452.244 [DAT](INFO): Reached modem response timeout
2025-08-21T06:57:32.244Z,1755759452.244 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:57:32.244Z,1755759452.244 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:32.496Z,1755759452.496 [DAT](INFO): Reached modem response timeout
2025-08-21T06:57:32.496Z,1755759452.496 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:57:32.496Z,1755759452.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:32.748Z,1755759452.748 [DAT](INFO): Reached modem response timeout
2025-08-21T06:57:32.748Z,1755759452.748 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:57:32.749Z,1755759452.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:32.000Z,1755759453.000 [DAT](INFO): Reached modem response timeout
2025-08-21T06:57:33.000Z,1755759453.000 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:57:33.000Z,1755759453.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:33.256Z,1755759453.256 [DAT](INFO): DAT read: Response Not Received

2025-08-21T06:57:33.256Z,1755759453.256 [DAT](INFO): response not received
2025-08-21T06:57:33.256Z,1755759453.256 [DAT](INFO): DAT read: user:1980>

2025-08-21T06:57:33.257Z,1755759453.257 [DAT](INFO): DAT read: Tx time:06:57:32.5723

2025-08-21T06:57:33.258Z,1755759453.258 [DAT](INFO): Ping request sent.
2025-08-21T06:57:33.258Z,1755759453.258 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:57:33.258Z,1755759453.258 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:33.260Z,1755759453.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001459
2025-08-21T06:57:33.504Z,1755759453.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246123
2025-08-21T06:57:33.759Z,1755759453.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500715
2025-08-21T06:57:33.893Z,1755759453.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:34.008Z,1755759454.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750283
2025-08-21T06:57:34.261Z,1755759454.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002737
2025-08-21T06:57:34.513Z,1755759454.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254303
2025-08-21T06:57:34.764Z,1755759454.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506242
2025-08-21T06:57:35.016Z,1755759455.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758114
2025-08-21T06:57:35.271Z,1755759455.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012358
2025-08-21T06:57:35.520Z,1755759455.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262078
2025-08-21T06:57:35.772Z,1755759455.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514262
2025-08-21T06:57:36.007Z,1755759456.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:36.024Z,1755759456.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766073
2025-08-21T06:57:36.282Z,1755759456.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022951
2025-08-21T06:57:36.528Z,1755759456.528 [DAT](INFO): DAT read: Rx Time:06:57:35.1748

2025-08-21T06:57:36.529Z,1755759456.529 [DAT](INFO): Rx dataTimestamp_ set to:1755759456.528485
2025-08-21T06:57:36.530Z,1755759456.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271580
2025-08-21T06:57:36.782Z,1755759456.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523115
2025-08-21T06:57:37.038Z,1755759457.038 [DAT](INFO): DAT read: 06:57:35.1748 LVL= 32752, 31585, 28226, 29779, AGC= 67, IDX= 187, 0.05,-0.112, 1.989, 0.905, 1.078, PHS=-1.088, 0.956,-0.217, RAW= 304.9,   4.0, CAL= 302.5,   0.7, ROT= 207.5,  -0.7

2025-08-21T06:57:37.039Z,1755759457.039 [DAT](INFO): got valid direction response:
 06:57:35.1748 LVL= 32752, 31585, 28226, 29779, AGC= 67, IDX= 187, 0.05,-0.112, 1.989, 0.905, 1.078, PHS=-1.088, 0.956,-0.217, RAW= 304.9,   4.0, CAL= 302.5,   0.7, ROT= 207.5,  -0.7

2025-08-21T06:57:37.040Z,1755759457.040 [DAT](INFO): DAT read: Bearing 216.5, -26.7 (Local)

2025-08-21T06:57:37.040Z,1755759457.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing 216.5, -26.7 (Local)

2025-08-21T06:57:37.042Z,1755759457.042 [DAT](INFO): DAT read: Range 11 to 50 : 148.7 m  (Round-trip  198.3 ms) speed -0.6 m/s

2025-08-21T06:57:37.042Z,1755759457.042 [DAT](INFO): DAT read: user:1981>

2025-08-21T06:57:37.043Z,1755759457.043 [DAT](INFO): DAT read: Tx time:06:57:36.2723

2025-08-21T06:57:37.044Z,1755759457.044 [DAT](INFO): Ping request sent.
2025-08-21T06:57:37.044Z,1755759457.044 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:57:37.044Z,1755759457.044 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:57:37.045Z,1755759457.045 [DAT](INFO): direction in FSK: [-0.886945,-0.461714,0.012217]
2025-08-21T06:57:37.045Z,1755759457.045 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:37.045Z,1755759457.045 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:37.049Z,1755759457.049 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:37.049Z,1755759457.049 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:37.321Z,1755759457.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.699997 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-21T06:57:37.327Z,1755759457.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.894058 m,
      bearing: 101.577197 deg,
      lat: 36.779378 deg,
      lon: -121.859454 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-21T06:57:37.328Z,1755759457.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.89 m.
2025-08-21T06:57:37.330Z,1755759457.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 147.894058 m,
      nav range: 146.822510 m,
      bearing: 106.065244 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 112.621107 deg,
      new cmd heading: 106.065244 deg.

2025-08-21T06:57:37.335Z,1755759457.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.851188 target range: 147.894058 and range: 148.70 m.
2025-08-21T06:57:37.648Z,1755759457.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.89 m.
2025-08-21T06:57:37.650Z,1755759457.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 147.894058 m,
      nav range: 147.103745 m,
      bearing: 106.001321 deg,
      approach rate: 0.859133 m/s,
      LOS rate: -0.194903 deg/s,
      cmd heading: 106.065243 deg,
      new cmd heading: 106.001321 deg.

2025-08-21T06:57:37.651Z,1755759457.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.850072 target range: 147.894058 and range: 148.70 m.
2025-08-21T06:57:38.026Z,1755759458.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:38.029Z,1755759458.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.89 m.
2025-08-21T06:57:38.031Z,1755759458.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 147.894058 m,
      nav range: 147.357010 m,
      bearing: 105.941471 deg,
      approach rate: 0.664364 m/s,
      LOS rate: -0.156729 deg/s,
      cmd heading: 106.001319 deg,
      new cmd heading: 105.941471 deg.

2025-08-21T06:57:38.032Z,1755759458.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.849028 target range: 147.894058 and range: 148.70 m.
2025-08-21T06:57:38.040Z,1755759458.040 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:38.040Z,1755759458.040 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:38.040Z,1755759458.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:38.296Z,1755759458.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251744
2025-08-21T06:57:38.468Z,1755759458.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.89 m.
2025-08-21T06:57:38.471Z,1755759458.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 147.894058 m,
      nav range: 147.641739 m,
      bearing: 105.875724 deg,
      approach rate: 0.647331 m/s,
      LOS rate: -0.149187 deg/s,
      cmd heading: 105.941473 deg,
      new cmd heading: 105.875724 deg.

2025-08-21T06:57:38.472Z,1755759458.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.847880 target range: 147.894058 and range: 148.70 m.
2025-08-21T06:57:38.546Z,1755759458.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502537
2025-08-21T06:57:38.802Z,1755759458.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757780
2025-08-21T06:57:38.847Z,1755759458.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.89 m.
2025-08-21T06:57:38.850Z,1755759458.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 147.894058 m,
      nav range: 147.881485 m,
      bearing: 105.815768 deg,
      approach rate: 0.633110 m/s,
      LOS rate: -0.158072 deg/s,
      cmd heading: 105.875725 deg,
      new cmd heading: 105.815768 deg.

2025-08-21T06:57:38.850Z,1755759458.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.846834 target range: 147.894058 and range: 148.70 m.
2025-08-21T06:57:39.054Z,1755759459.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010463
2025-08-21T06:57:39.260Z,1755759459.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.89 m.
2025-08-21T06:57:39.266Z,1755759459.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 147.894058 m,
      nav range: 148.140045 m,
      bearing: 105.748724 deg,
      approach rate: 0.625528 m/s,
      LOS rate: -0.161915 deg/s,
      cmd heading: 105.815770 deg,
      new cmd heading: 105.748724 deg.

2025-08-21T06:57:39.277Z,1755759459.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.845663 target range: 147.894058 and range: 148.70 m.
2025-08-21T06:57:39.307Z,1755759459.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262849
2025-08-21T06:57:39.556Z,1755759459.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512489
2025-08-21T06:57:39.681Z,1755759459.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.89 m.
2025-08-21T06:57:39.700Z,1755759459.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 147.894058 m,
      nav range: 148.403564 m,
      bearing: 105.678529 deg,
      approach rate: 0.626474 m/s,
      LOS rate: -0.166580 deg/s,
      cmd heading: 105.748725 deg,
      new cmd heading: 105.678529 deg.

2025-08-21T06:57:39.700Z,1755759459.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.844438 target range: 147.894058 and range: 148.70 m.
2025-08-21T06:57:39.808Z,1755759459.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764469
2025-08-21T06:57:40.060Z,1755759460.060 [DAT](INFO): DAT read: Rx Time:06:57:38.8781

2025-08-21T06:57:40.061Z,1755759460.061 [DAT](INFO): Rx dataTimestamp_ set to:1755759460.060429
2025-08-21T06:57:40.061Z,1755759460.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017506
2025-08-21T06:57:40.101Z,1755759460.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:40.103Z,1755759460.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.89 m.
2025-08-21T06:57:40.105Z,1755759460.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 147.894058 m,
      nav range: 148.664215 m,
      bearing: 105.606507 deg,
      approach rate: 0.618349 m/s,
      LOS rate: -0.170559 deg/s,
      cmd heading: 105.678531 deg,
      new cmd heading: 105.606507 deg.

2025-08-21T06:57:40.106Z,1755759460.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.843181 target range: 147.894058 and range: 148.70 m.
2025-08-21T06:57:40.316Z,1755759460.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271051
2025-08-21T06:57:40.502Z,1755759460.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.89 m.
2025-08-21T06:57:40.520Z,1755759460.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 147.894058 m,
      nav range: 148.905594 m,
      bearing: 105.540995 deg,
      approach rate: 0.604959 m/s,
      LOS rate: -0.163925 deg/s,
      cmd heading: 105.606507 deg,
      new cmd heading: 105.540995 deg.

2025-08-21T06:57:40.521Z,1755759460.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.842038 target range: 147.894058 and range: 148.70 m.
2025-08-21T06:57:40.568Z,1755759460.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523890
2025-08-21T06:57:40.822Z,1755759460.822 [DAT](INFO): DAT read: 06:57:38.8781 LVL= 31680, 25425, 27714, 32755, AGC= 65, IDX= 462,-0.34, 2.006,-2.193,-3.124,-3.013, PHS=-1.162, 0.865,-0.155, RAW= 300.2,   5.2, CAL= 297.9,   2.5, ROT= 212.1,  -2.5

2025-08-21T06:57:40.824Z,1755759460.824 [DAT](INFO): got valid direction response:
 06:57:38.8781 LVL= 31680, 25425, 27714, 32755, AGC= 65, IDX= 462,-0.34, 2.006,-2.193,-3.124,-3.013, PHS=-1.162, 0.865,-0.155, RAW= 300.2,   5.2, CAL= 297.9,   2.5, ROT= 212.1,  -2.5

2025-08-21T06:57:40.825Z,1755759460.825 [DAT](INFO): DAT read: Bearing 204.6, -32.0 (Local)

2025-08-21T06:57:40.825Z,1755759460.825 [DAT](INFO): Local bearing/azimuth received:
 Bearing 204.6, -32.0 (Local)

2025-08-21T06:57:40.826Z,1755759460.826 [DAT](INFO): DAT read: Range 11 to 50 : 151.2 m  (Round-trip  201.6 ms) speed -0.5 m/s

2025-08-21T06:57:40.840Z,1755759460.840 [DAT](INFO): DAT read: user:1982>

2025-08-21T06:57:40.841Z,1755759460.841 [DAT](INFO): DAT read: Tx time:06:57:39.9723

2025-08-21T06:57:40.842Z,1755759460.842 [DAT](INFO): Ping request sent.
2025-08-21T06:57:40.842Z,1755759460.842 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:57:40.842Z,1755759460.842 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:57:40.864Z,1755759460.864 [DAT](INFO): direction in FSK: [-0.846316,-0.530893,0.043619]
2025-08-21T06:57:40.864Z,1755759460.864 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:40.864Z,1755759460.864 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:40.892Z,1755759460.892 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:40.892Z,1755759460.892 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:40.988Z,1755759460.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 151.199997 m,
      deltaT: 3.784067 s,
      deltaX: 2.500000 m,
      approachRate: 0.660665 m/s,
      rangeRepo size: 2

2025-08-21T06:57:40.990Z,1755759460.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 150.380234 m,
      bearing: 97.473131 deg,
      lat: 36.779383 deg,
      lon: -121.859442 deg,
      deltaT: 3.784067 s,
      deltaX: 2.486176 m,
      approachRate: 0.657012 m/s,
      posRepo size: 2

2025-08-21T06:57:40.991Z,1755759460.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.38 m.
2025-08-21T06:57:40.998Z,1755759460.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.380234 m,
      nav range: 150.064758 m,
      bearing: 105.159637 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.163925 deg/s,
      cmd heading: 105.540991 deg,
      new cmd heading: 105.304342 deg.

2025-08-21T06:57:40.999Z,1755759460.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.837907 target range: 150.380234 and range: 151.20 m.
2025-08-21T06:57:41.426Z,1755759461.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.38 m.
2025-08-21T06:57:41.428Z,1755759461.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.380234 m,
      nav range: 150.338791 m,
      bearing: 105.078973 deg,
      approach rate: 0.618887 m/s,
      LOS rate: -0.181843 deg/s,
      cmd heading: 105.304339 deg,
      new cmd heading: 105.062789 deg.

2025-08-21T06:57:41.429Z,1755759461.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.833692 target range: 150.380234 and range: 151.20 m.
2025-08-21T06:57:41.756Z,1755759461.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.38 m.
2025-08-21T06:57:41.758Z,1755759461.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.380234 m,
      nav range: 150.533371 m,
      bearing: 105.021924 deg,
      approach rate: 0.590044 m/s,
      LOS rate: -0.172771 deg/s,
      cmd heading: 105.062789 deg,
      new cmd heading: 104.891865 deg.

2025-08-21T06:57:41.759Z,1755759461.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.830708 target range: 150.380234 and range: 151.20 m.
2025-08-21T06:57:42.145Z,1755759462.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:42.150Z,1755759462.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.38 m.
2025-08-21T06:57:42.154Z,1755759462.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.380234 m,
      nav range: 150.759628 m,
      bearing: 104.953197 deg,
      approach rate: 0.574202 m/s,
      LOS rate: -0.174156 deg/s,
      cmd heading: 104.891864 deg,
      new cmd heading: 104.685992 deg.

2025-08-21T06:57:42.155Z,1755759462.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.827115 target range: 150.380234 and range: 151.20 m.
2025-08-21T06:57:42.330Z,1755759462.330 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:42.331Z,1755759462.331 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:42.332Z,1755759462.332 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:42.576Z,1755759462.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.38 m.
2025-08-21T06:57:42.578Z,1755759462.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.380234 m,
      nav range: 151.003204 m,
      bearing: 104.875515 deg,
      approach rate: 0.571088 m/s,
      LOS rate: -0.181840 deg/s,
      cmd heading: 104.685995 deg,
      new cmd heading: 104.453326 deg.

2025-08-21T06:57:42.580Z,1755759462.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738561
2025-08-21T06:57:42.581Z,1755759462.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.823054 target range: 150.380234 and range: 151.20 m.
2025-08-21T06:57:42.833Z,1755759462.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991047
2025-08-21T06:57:42.953Z,1755759462.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.38 m.
2025-08-21T06:57:42.957Z,1755759462.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.380234 m,
      nav range: 151.212357 m,
      bearing: 104.806529 deg,
      approach rate: 0.554251 m/s,
      LOS rate: -0.182559 deg/s,
      cmd heading: 104.453325 deg,
      new cmd heading: 104.246655 deg.

2025-08-21T06:57:42.958Z,1755759462.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.819447 target range: 150.380234 and range: 151.20 m.
2025-08-21T06:57:43.084Z,1755759463.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242404
2025-08-21T06:57:43.336Z,1755759463.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494419
2025-08-21T06:57:43.430Z,1755759463.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.38 m.
2025-08-21T06:57:43.437Z,1755759463.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.380234 m,
      nav range: 151.471054 m,
      bearing: 104.718241 deg,
      approach rate: 0.542639 m/s,
      LOS rate: -0.184874 deg/s,
      cmd heading: 104.246657 deg,
      new cmd heading: 103.982248 deg.

2025-08-21T06:57:43.438Z,1755759463.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814833 target range: 150.380234 and range: 151.20 m.
2025-08-21T06:57:43.588Z,1755759463.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746398
2025-08-21T06:57:43.828Z,1755759463.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.38 m.
2025-08-21T06:57:43.830Z,1755759463.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.380234 m,
      nav range: 151.690155 m,
      bearing: 104.639922 deg,
      approach rate: 0.550621 m/s,
      LOS rate: -0.196538 deg/s,
      cmd heading: 103.982247 deg,
      new cmd heading: 103.747631 deg.

2025-08-21T06:57:43.833Z,1755759463.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.810738 target range: 150.380234 and range: 151.20 m.
2025-08-21T06:57:43.840Z,1755759463.840 [DAT](INFO): DAT read: Rx Time:06:57:42.5812

2025-08-21T06:57:43.841Z,1755759463.841 [DAT](INFO): Rx dataTimestamp_ set to:1755759463.840560
2025-08-21T06:57:43.841Z,1755759463.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999566
2025-08-21T06:57:44.093Z,1755759464.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250832
2025-08-21T06:57:44.194Z,1755759464.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:44.196Z,1755759464.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.38 m.
2025-08-21T06:57:44.198Z,1755759464.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.380234 m,
      nav range: 151.885345 m,
      bearing: 104.567797 deg,
      approach rate: 0.530423 m/s,
      LOS rate: -0.195747 deg/s,
      cmd heading: 103.747630 deg,
      new cmd heading: 103.531532 deg.

2025-08-21T06:57:44.200Z,1755759464.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.806966 target range: 150.380234 and range: 151.20 m.
2025-08-21T06:57:44.373Z,1755759464.373 [DAT](INFO): DAT read: 06:57:42.5812 LVL= 32752, 29649, 28866, 32755, AGC= 67, IDX= 461, 0.00, 2.979,-1.200,-1.867,-1.941, PHS=-1.260, 0.787, 0.031, RAW= 291.4,   5.0, CAL= 289.5,   0.5, ROT= 220.5,  -0.5

2025-08-21T06:57:44.382Z,1755759464.382 [DAT](INFO): got valid direction response:
 06:57:42.5812 LVL= 32752, 29649, 28866, 32755, AGC= 67, IDX= 461, 0.00, 2.979,-1.200,-1.867,-1.941, PHS=-1.260, 0.787, 0.031, RAW= 291.4,   5.0, CAL= 289.5,   0.5, ROT= 220.5,  -0.5

2025-08-21T06:57:44.408Z,1755759464.408 [DAT](INFO): DAT read: Bearing 197.3, -41.4 (Local)

2025-08-21T06:57:44.409Z,1755759464.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.3, -41.4 (Local)

2025-08-21T06:57:44.411Z,1755759464.411 [DAT](INFO): DAT read: Range 11 to 50 : 153.5 m  (Round-trip  204.7 ms) speed -0.5 m/s

2025-08-21T06:57:44.417Z,1755759464.417 [DAT](INFO): DAT read: user:1983>

2025-08-21T06:57:44.418Z,1755759464.418 [DAT](INFO): DAT read: Tx time:06:57:43.6723

2025-08-21T06:57:44.419Z,1755759464.419 [DAT](INFO): Ping request sent.
2025-08-21T06:57:44.419Z,1755759464.419 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:57:44.423Z,1755759464.423 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:57:44.424Z,1755759464.424 [DAT](INFO): direction in FSK: [-0.760377,-0.649423,0.008727]
2025-08-21T06:57:44.425Z,1755759464.425 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:44.425Z,1755759464.425 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:44.432Z,1755759464.432 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:44.433Z,1755759464.433 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:44.651Z,1755759464.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.500000 m,
      deltaT: 3.530022 s,
      deltaX: 2.300003 m,
      approachRate: 0.651555 m/s,
      rangeRepo size: 3

2025-08-21T06:57:44.657Z,1755759464.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 152.667587 m,
      bearing: 94.044511 deg,
      lat: 36.779477 deg,
      lon: -121.859414 deg,
      deltaT: 3.530022 s,
      deltaX: 2.287354 m,
      approachRate: 0.647971 m/s,
      posRepo size: 3

2025-08-21T06:57:44.658Z,1755759464.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.67 m.
2025-08-21T06:57:44.664Z,1755759464.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.667587 m,
      nav range: 152.356461 m,
      bearing: 100.430940 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.195747 deg/s,
      cmd heading: 103.531529 deg,
      new cmd heading: 103.264904 deg.

2025-08-21T06:57:44.665Z,1755759464.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.802313 target range: 152.667587 and range: 153.50 m.
2025-08-21T06:57:45.015Z,1755759465.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.67 m.
2025-08-21T06:57:45.018Z,1755759465.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.667587 m,
      nav range: 152.558289 m,
      bearing: 100.361567 deg,
      approach rate: 0.558899 m/s,
      LOS rate: -0.191853 deg/s,
      cmd heading: 103.264906 deg,
      new cmd heading: 103.057063 deg.

2025-08-21T06:57:45.019Z,1755759465.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.798685 target range: 152.667587 and range: 153.50 m.
2025-08-21T06:57:45.455Z,1755759465.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.67 m.
2025-08-21T06:57:45.457Z,1755759465.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.667587 m,
      nav range: 152.808777 m,
      bearing: 100.272490 deg,
      approach rate: 0.564582 m/s,
      LOS rate: -0.200445 deg/s,
      cmd heading: 103.057063 deg,
      new cmd heading: 102.790271 deg.

2025-08-21T06:57:45.458Z,1755759465.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.794029 target range: 152.667587 and range: 153.50 m.
2025-08-21T06:57:45.836Z,1755759465.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.67 m.
2025-08-21T06:57:45.838Z,1755759465.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.667587 m,
      nav range: 153.015930 m,
      bearing: 100.200629 deg,
      approach rate: 0.544048 m/s,
      LOS rate: -0.188473 deg/s,
      cmd heading: 102.790269 deg,
      new cmd heading: 102.574979 deg.

2025-08-21T06:57:45.839Z,1755759465.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.790271 target range: 152.667587 and range: 153.50 m.
2025-08-21T06:57:46.210Z,1755759466.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:46.212Z,1755759466.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.67 m.
2025-08-21T06:57:46.215Z,1755759466.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.667587 m,
      nav range: 153.217224 m,
      bearing: 100.128429 deg,
      approach rate: 0.534371 m/s,
      LOS rate: -0.191415 deg/s,
      cmd heading: 102.574982 deg,
      new cmd heading: 102.358668 deg.

2025-08-21T06:57:46.216Z,1755759466.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.786496 target range: 152.667587 and range: 153.50 m.
2025-08-21T06:57:46.379Z,1755759466.379 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:46.379Z,1755759466.379 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:46.380Z,1755759466.380 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:46.626Z,1755759466.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.67 m.
2025-08-21T06:57:46.628Z,1755759466.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.209835
2025-08-21T06:57:46.631Z,1755759466.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.667587 m,
      nav range: 153.437790 m,
      bearing: 100.046336 deg,
      approach rate: 0.532508 m/s,
      LOS rate: -0.197910 deg/s,
      cmd heading: 102.358670 deg,
      new cmd heading: 102.112748 deg.

2025-08-21T06:57:46.652Z,1755759466.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.782204 target range: 152.667587 and range: 153.50 m.
2025-08-21T06:57:46.880Z,1755759466.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.461728
2025-08-21T06:57:47.013Z,1755759467.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.67 m.
2025-08-21T06:57:47.016Z,1755759467.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.667587 m,
      nav range: 153.639938 m,
      bearing: 99.968533 deg,
      approach rate: 0.522604 m/s,
      LOS rate: -0.200876 deg/s,
      cmd heading: 102.112749 deg,
      new cmd heading: 101.879647 deg.

2025-08-21T06:57:47.017Z,1755759467.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.778135 target range: 152.667587 and range: 153.50 m.
2025-08-21T06:57:47.132Z,1755759467.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.713812
2025-08-21T06:57:47.387Z,1755759467.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968102
2025-08-21T06:57:47.504Z,1755759467.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.67 m.
2025-08-21T06:57:47.506Z,1755759467.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.667587 m,
      nav range: 153.896591 m,
      bearing: 99.872890 deg,
      approach rate: 0.522983 m/s,
      LOS rate: -0.194567 deg/s,
      cmd heading: 101.879648 deg,
      new cmd heading: 101.593200 deg.

2025-08-21T06:57:47.508Z,1755759467.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.773136 target range: 152.667587 and range: 153.50 m.
2025-08-21T06:57:47.636Z,1755759467.636 [DAT](INFO): DAT read: Rx Time:06:57:46.2840

2025-08-21T06:57:47.637Z,1755759467.637 [DAT](INFO): Rx dataTimestamp_ set to:1755759467.636582
2025-08-21T06:57:47.637Z,1755759467.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218938
2025-08-21T06:57:47.825Z,1755759467.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.67 m.
2025-08-21T06:57:47.828Z,1755759467.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 152.667587 m,
      nav range: 154.064743 m,
      bearing: 99.810486 deg,
      approach rate: 0.523996 m/s,
      LOS rate: -0.194252 deg/s,
      cmd heading: 101.593197 deg,
      new cmd heading: 101.406189 deg.

2025-08-21T06:57:47.829Z,1755759467.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.769872 target range: 152.667587 and range: 153.50 m.
2025-08-21T06:57:47.889Z,1755759467.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.470018
2025-08-21T06:57:48.149Z,1755759468.149 [DAT](INFO): DAT read: 06:57:46.2840 LVL= 30640, 21905, 23922, 29427, AGC= 65, IDX= 458,-0.08, 2.874,-1.544,-1.599,-1.955, PHS=-1.352, 0.457, 0.312, RAW= 274.1,   6.7, CAL= 272.2,   3.0, ROT= 237.8,  -3.0

2025-08-21T06:57:48.150Z,1755759468.150 [DAT](INFO): got valid direction response:
 06:57:46.2840 LVL= 30640, 21905, 23922, 29427, AGC= 65, IDX= 458,-0.08, 2.874,-1.544,-1.599,-1.955, PHS=-1.352, 0.457, 0.312, RAW= 274.1,   6.7, CAL= 272.2,   3.0, ROT= 237.8,  -3.0

2025-08-21T06:57:48.152Z,1755759468.152 [DAT](INFO): DAT read: Bearing 184.5, -59.9 (Local)

2025-08-21T06:57:48.152Z,1755759468.152 [DAT](INFO): Local bearing/azimuth received:
 Bearing 184.5, -59.9 (Local)

2025-08-21T06:57:48.154Z,1755759468.154 [DAT](INFO): DAT read: Range 11 to 50 : 155.7 m  (Round-trip  207.6 ms) speed -0.4 m/s

2025-08-21T06:57:48.156Z,1755759468.156 [DAT](INFO): DAT read: user:1984>

2025-08-21T06:57:48.157Z,1755759468.157 [DAT](INFO): DAT read: Tx time:06:57:47.4223

2025-08-21T06:57:48.157Z,1755759468.157 [DAT](INFO): Ping request sent.
2025-08-21T06:57:48.157Z,1755759468.157 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:57:48.158Z,1755759468.158 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:57:48.160Z,1755759468.160 [DAT](INFO): direction in FSK: [-0.532146,-0.845034,0.052336]
2025-08-21T06:57:48.160Z,1755759468.160 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:48.161Z,1755759468.161 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:48.185Z,1755759468.185 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:48.185Z,1755759468.185 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:48.330Z,1755759468.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.699997 m,
      deltaT: 3.794192 s,
      deltaX: 2.199997 m,
      approachRate: 0.579833 m/s,
      rangeRepo size: 4

2025-08-21T06:57:48.337Z,1755759468.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.856033 m,
      bearing: 101.409661 deg,
      lat: 36.779477 deg,
      lon: -121.859414 deg,
      deltaT: 3.794192 s,
      deltaX: 2.188446 m,
      approachRate: 0.576788 m/s,
      posRepo size: 4

2025-08-21T06:57:48.337Z,1755759468.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.86 m.
2025-08-21T06:57:48.344Z,1755759468.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.856033 m,
      nav range: 154.283127 m,
      bearing: 99.723376 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.194252 deg/s,
      cmd heading: 101.406186 deg,
      new cmd heading: 101.112105 deg.

2025-08-21T06:57:48.345Z,1755759468.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.764739 target range: 154.856033 and range: 155.70 m.
2025-08-21T06:57:48.810Z,1755759468.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:48.813Z,1755759468.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.86 m.
2025-08-21T06:57:48.816Z,1755759468.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.856033 m,
      nav range: 154.548569 m,
      bearing: 99.610917 deg,
      approach rate: 0.549255 m/s,
      LOS rate: -0.232301 deg/s,
      cmd heading: 101.112106 deg,
      new cmd heading: 100.775313 deg.

2025-08-21T06:57:48.817Z,1755759468.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.758861 target range: 154.856033 and range: 155.70 m.
2025-08-21T06:57:48.896Z,1755759468.896 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:48.896Z,1755759468.896 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:48.897Z,1755759468.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:49.149Z,1755759469.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991972
2025-08-21T06:57:49.161Z,1755759469.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.86 m.
2025-08-21T06:57:49.170Z,1755759469.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.856033 m,
      nav range: 154.704758 m,
      bearing: 99.542500 deg,
      approach rate: 0.448364 m/s,
      LOS rate: -0.196202 deg/s,
      cmd heading: 100.775316 deg,
      new cmd heading: 100.570274 deg.

2025-08-21T06:57:49.175Z,1755759469.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755282 target range: 154.856033 and range: 155.70 m.
2025-08-21T06:57:49.400Z,1755759469.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242858
2025-08-21T06:57:49.652Z,1755759469.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494771
2025-08-21T06:57:49.695Z,1755759469.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.86 m.
2025-08-21T06:57:49.698Z,1755759469.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.856033 m,
      nav range: 154.962265 m,
      bearing: 99.429840 deg,
      approach rate: 0.482252 m/s,
      LOS rate: -0.210636 deg/s,
      cmd heading: 100.570273 deg,
      new cmd heading: 100.232859 deg.

2025-08-21T06:57:49.699Z,1755759469.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749393 target range: 154.856033 and range: 155.70 m.
2025-08-21T06:57:49.908Z,1755759469.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750968
2025-08-21T06:57:50.063Z,1755759470.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.86 m.
2025-08-21T06:57:50.066Z,1755759470.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.856033 m,
      nav range: 155.122543 m,
      bearing: 99.357321 deg,
      approach rate: 0.435674 m/s,
      LOS rate: -0.196921 deg/s,
      cmd heading: 100.232862 deg,
      new cmd heading: 100.015530 deg.

2025-08-21T06:57:50.067Z,1755759470.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.745600 target range: 154.856033 and range: 155.70 m.
2025-08-21T06:57:50.157Z,1755759470.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999606
2025-08-21T06:57:50.409Z,1755759470.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251295
2025-08-21T06:57:50.589Z,1755759470.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.86 m.
2025-08-21T06:57:50.598Z,1755759470.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.856033 m,
      nav range: 155.364105 m,
      bearing: 99.251550 deg,
      approach rate: 0.459001 m/s,
      LOS rate: -0.200666 deg/s,
      cmd heading: 100.015532 deg,
      new cmd heading: 99.698718 deg.

2025-08-21T06:57:50.600Z,1755759470.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.740071 target range: 154.856033 and range: 155.70 m.
2025-08-21T06:57:50.661Z,1755759470.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504089
2025-08-21T06:57:50.848Z,1755759470.848 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:57:50.912Z,1755759470.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754982
2025-08-21T06:57:50.920Z,1755759470.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:50.922Z,1755759470.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.86 m.
2025-08-21T06:57:50.941Z,1755759470.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.856033 m,
      nav range: 155.522171 m,
      bearing: 99.177198 deg,
      approach rate: 0.475066 m/s,
      LOS rate: -0.223238 deg/s,
      cmd heading: 99.698721 deg,
      new cmd heading: 99.475892 deg.

2025-08-21T06:57:50.942Z,1755759470.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.736182 target range: 154.856033 and range: 155.70 m.
2025-08-21T06:57:51.165Z,1755759471.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007352
2025-08-21T06:57:51.316Z,1755759471.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.86 m.
2025-08-21T06:57:51.319Z,1755759471.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.856033 m,
      nav range: 155.693558 m,
      bearing: 99.093857 deg,
      approach rate: 0.434587 m/s,
      LOS rate: -0.211096 deg/s,
      cmd heading: 99.475893 deg,
      new cmd heading: 99.226146 deg.

2025-08-21T06:57:51.320Z,1755759471.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.731823 target range: 154.856033 and range: 155.70 m.
2025-08-21T06:57:51.418Z,1755759471.418 [DAT](INFO): DAT read: Rx Time:06:57:50.0363

2025-08-21T06:57:51.418Z,1755759471.418 [DAT](INFO): Rx dataTimestamp_ set to:1755759471.417986
2025-08-21T06:57:51.419Z,1755759471.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261424
2025-08-21T06:57:51.668Z,1755759471.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510881
2025-08-21T06:57:51.813Z,1755759471.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.86 m.
2025-08-21T06:57:51.844Z,1755759471.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.856033 m,
      nav range: 155.898270 m,
      bearing: 98.993805 deg,
      approach rate: 0.412296 m/s,
      LOS rate: -0.201243 deg/s,
      cmd heading: 99.226147 deg,
      new cmd heading: 98.926389 deg.

2025-08-21T06:57:51.845Z,1755759471.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726591 target range: 154.856033 and range: 155.70 m.
2025-08-21T06:57:51.852Z,1755759471.852 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:57:51.926Z,1755759471.926 [DAT](INFO): DAT read: 06:57:50.0363 LVL= 29776, 21489, 21986, 29811, AGC= 62, IDX= 448, 0.45, 2.959,-1.866,-1.207,-1.936, PHS=-1.286, 0.115, 0.685, RAW= 253.7,   5.6, CAL= 251.0,   4.8, ROT= 259.0,  -4.8

2025-08-21T06:57:51.929Z,1755759471.929 [DAT](INFO): got valid direction response:
 06:57:50.0363 LVL= 29776, 21489, 21986, 29811, AGC= 62, IDX= 448, 0.45, 2.959,-1.866,-1.207,-1.936, PHS=-1.286, 0.115, 0.685, RAW= 253.7,   5.6, CAL= 251.0,   4.8, ROT= 259.0,  -4.8

2025-08-21T06:57:51.930Z,1755759471.930 [DAT](INFO): DAT read: Bearing 161.3, -82.0 (Local)

2025-08-21T06:57:51.930Z,1755759471.930 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.3, -82.0 (Local)

2025-08-21T06:57:51.933Z,1755759471.933 [DAT](INFO): DAT read: Range 11 to 50 : 157.3 m  (Round-trip  209.8 ms) speed -0.4 m/s

2025-08-21T06:57:51.934Z,1755759471.934 [DAT](INFO): DAT read: user:1985>

2025-08-21T06:57:51.935Z,1755759471.935 [DAT](INFO): DAT read: Tx time:06:57:51.1723

2025-08-21T06:57:51.940Z,1755759471.940 [DAT](INFO): Ping request sent.
2025-08-21T06:57:51.940Z,1755759471.940 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:57:51.940Z,1755759471.940 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:57:51.941Z,1755759471.941 [DAT](INFO): direction in FSK: [-0.190140,-0.978185,0.083678]
2025-08-21T06:57:51.941Z,1755759471.941 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:51.942Z,1755759471.942 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:51.945Z,1755759471.945 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:51.946Z,1755759471.946 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:52.191Z,1755759472.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 157.300003 m,
      deltaT: 3.779908 s,
      deltaX: 1.600006 m,
      approachRate: 0.423292 m/s,
      rangeRepo size: 4

2025-08-21T06:57:52.193Z,1755759472.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.447311 m,
      bearing: 112.832254 deg,
      lat: 36.779477 deg,
      lon: -121.859414 deg,
      deltaT: 3.779908 s,
      deltaX: 1.591278 m,
      approachRate: 0.420983 m/s,
      posRepo size: 4

2025-08-21T06:57:52.194Z,1755759472.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.45 m.
2025-08-21T06:57:52.212Z,1755759472.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.447311 m,
      nav range: 156.045013 m,
      bearing: 98.916766 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.201243 deg/s,
      cmd heading: 98.926390 deg,
      new cmd heading: 98.698597 deg.

2025-08-21T06:57:52.213Z,1755759472.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.722615 target range: 156.447311 and range: 157.30 m.
2025-08-21T06:57:52.599Z,1755759472.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.45 m.
2025-08-21T06:57:52.602Z,1755759472.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.447311 m,
      nav range: 156.201721 m,
      bearing: 98.831056 deg,
      approach rate: 0.383521 m/s,
      LOS rate: -0.209553 deg/s,
      cmd heading: 98.698597 deg,
      new cmd heading: 98.441727 deg.

2025-08-21T06:57:52.602Z,1755759472.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.718132 target range: 156.447311 and range: 157.30 m.
2025-08-21T06:57:52.983Z,1755759472.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:52.989Z,1755759472.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.45 m.
2025-08-21T06:57:52.992Z,1755759472.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.447311 m,
      nav range: 156.342361 m,
      bearing: 98.751284 deg,
      approach rate: 0.360321 m/s,
      LOS rate: -0.204194 deg/s,
      cmd heading: 98.441727 deg,
      new cmd heading: 98.202626 deg.

2025-08-21T06:57:52.993Z,1755759472.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.713959 target range: 156.447311 and range: 157.30 m.
2025-08-21T06:57:53.180Z,1755759473.180 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:53.180Z,1755759473.180 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:53.180Z,1755759473.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:53.385Z,1755759473.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.45 m.
2025-08-21T06:57:53.388Z,1755759473.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.447311 m,
      nav range: 156.486847 m,
      bearing: 98.666237 deg,
      approach rate: 0.364544 m/s,
      LOS rate: -0.214379 deg/s,
      cmd heading: 98.202629 deg,
      new cmd heading: 97.947726 deg.

2025-08-21T06:57:53.389Z,1755759473.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.709510 target range: 156.447311 and range: 157.30 m.
2025-08-21T06:57:53.432Z,1755759473.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492386
2025-08-21T06:57:53.685Z,1755759473.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744698
2025-08-21T06:57:53.816Z,1755759473.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.45 m.
2025-08-21T06:57:53.818Z,1755759473.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.447311 m,
      nav range: 156.643631 m,
      bearing: 98.575328 deg,
      approach rate: 0.364650 m/s,
      LOS rate: -0.211226 deg/s,
      cmd heading: 97.947727 deg,
      new cmd heading: 97.675274 deg.

2025-08-21T06:57:53.819Z,1755759473.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.704755 target range: 156.447311 and range: 157.30 m.
2025-08-21T06:57:53.937Z,1755759473.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996620
2025-08-21T06:57:54.188Z,1755759474.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248428
2025-08-21T06:57:54.203Z,1755759474.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.45 m.
2025-08-21T06:57:54.205Z,1755759474.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.447311 m,
      nav range: 156.775436 m,
      bearing: 98.492504 deg,
      approach rate: 0.340422 m/s,
      LOS rate: -0.213733 deg/s,
      cmd heading: 97.675270 deg,
      new cmd heading: 97.427011 deg.

2025-08-21T06:57:54.206Z,1755759474.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.700422 target range: 156.447311 and range: 157.30 m.
2025-08-21T06:57:54.441Z,1755759474.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500726
2025-08-21T06:57:54.641Z,1755759474.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.45 m.
2025-08-21T06:57:54.644Z,1755759474.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.447311 m,
      nav range: 156.923981 m,
      bearing: 98.401245 deg,
      approach rate: 0.338753 m/s,
      LOS rate: -0.207919 deg/s,
      cmd heading: 97.427014 deg,
      new cmd heading: 97.153496 deg.

2025-08-21T06:57:54.645Z,1755759474.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.695648 target range: 156.447311 and range: 157.30 m.
2025-08-21T06:57:54.694Z,1755759474.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753535
2025-08-21T06:57:54.944Z,1755759474.944 [DAT](INFO): DAT read: Rx Time:06:57:53.7880

2025-08-21T06:57:54.945Z,1755759474.945 [DAT](INFO): Rx dataTimestamp_ set to:1755759474.944352
2025-08-21T06:57:54.945Z,1755759474.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005311
2025-08-21T06:57:55.027Z,1755759475.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:55.033Z,1755759475.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.45 m.
2025-08-21T06:57:55.040Z,1755759475.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.447311 m,
      nav range: 157.046326 m,
      bearing: 98.319628 deg,
      approach rate: 0.311986 m/s,
      LOS rate: -0.207965 deg/s,
      cmd heading: 97.153499 deg,
      new cmd heading: 96.908840 deg.

2025-08-21T06:57:55.041Z,1755759475.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.691378 target range: 156.447311 and range: 157.30 m.
2025-08-21T06:57:55.196Z,1755759475.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256423
2025-08-21T06:57:55.406Z,1755759475.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.45 m.
2025-08-21T06:57:55.408Z,1755759475.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.447311 m,
      nav range: 157.163818 m,
      bearing: 98.237960 deg,
      approach rate: 0.315499 m/s,
      LOS rate: -0.219135 deg/s,
      cmd heading: 96.908841 deg,
      new cmd heading: 96.664023 deg.

2025-08-21T06:57:55.409Z,1755759475.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.687105 target range: 156.447311 and range: 157.30 m.
2025-08-21T06:57:55.452Z,1755759475.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512057
2025-08-21T06:57:55.706Z,1755759475.706 [DAT](INFO): DAT read: 06:57:53.7879 LVL= 32752, 24961, 28146, 32755, AGC= 64, IDX= 468,-0.38, 0.205, 1.541, 2.479, 1.552, PHS=-1.245, 0.034, 0.883, RAW= 246.7,   3.6, CAL= 243.7,   3.5, ROT= 266.3,  -3.5

2025-08-21T06:57:55.707Z,1755759475.707 [DAT](INFO): got valid direction response:
 06:57:53.7879 LVL= 32752, 24961, 28146, 32755, AGC= 64, IDX= 468,-0.38, 0.205, 1.541, 2.479, 1.552, PHS=-1.245, 0.034, 0.883, RAW= 246.7,   3.6, CAL= 243.7,   3.5, ROT= 266.3,  -3.5

2025-08-21T06:57:55.708Z,1755759475.708 [DAT](INFO): DAT read: Bearing  37.0, -88.5 (Local)

2025-08-21T06:57:55.708Z,1755759475.708 [DAT](INFO): Local bearing/azimuth received:
 Bearing  37.0, -88.5 (Local)

2025-08-21T06:57:55.710Z,1755759475.710 [DAT](INFO): DAT read: Range 11 to 50 : 158.7 m  (Round-trip  211.6 ms) speed -0.4 m/s

2025-08-21T06:57:55.711Z,1755759475.711 [DAT](INFO): DAT read: user:1986>

2025-08-21T06:57:55.714Z,1755759475.714 [DAT](INFO): DAT read: Tx time:06:57:54.9222

2025-08-21T06:57:55.715Z,1755759475.715 [DAT](INFO): Ping request sent.
2025-08-21T06:57:55.716Z,1755759475.716 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:57:55.717Z,1755759475.717 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:57:55.720Z,1755759475.720 [DAT](INFO): direction in FSK: [-0.064412,-0.996054,0.061049]
2025-08-21T06:57:55.721Z,1755759475.721 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:55.722Z,1755759475.722 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:55.729Z,1755759475.729 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:55.729Z,1755759475.729 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:55.906Z,1755759475.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.699997 m,
      deltaT: 3.779858 s,
      deltaX: 1.399994 m,
      approachRate: 0.370383 m/s,
      rangeRepo size: 4

2025-08-21T06:57:55.912Z,1755759475.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.840103 m,
      bearing: 109.361673 deg,
      lat: 36.779437 deg,
      lon: -121.859420 deg,
      deltaT: 3.779858 s,
      deltaX: 1.392792 m,
      approachRate: 0.368477 m/s,
      posRepo size: 4

2025-08-21T06:57:55.913Z,1755759475.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.84 m.
2025-08-21T06:57:55.923Z,1755759475.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.840103 m,
      nav range: 157.457703 m,
      bearing: 99.791368 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.219135 deg/s,
      cmd heading: 96.664020 deg,
      new cmd heading: 96.335511 deg.

2025-08-21T06:57:55.928Z,1755759475.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681372 target range: 157.840103 and range: 158.70 m.
2025-08-21T06:57:56.218Z,1755759476.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.84 m.
2025-08-21T06:57:56.224Z,1755759476.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.840103 m,
      nav range: 157.551178 m,
      bearing: 99.719921 deg,
      approach rate: 0.299725 m/s,
      LOS rate: -0.228956 deg/s,
      cmd heading: 96.335508 deg,
      new cmd heading: 96.121295 deg.

2025-08-21T06:57:56.226Z,1755759476.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677633 target range: 157.840103 and range: 158.70 m.
2025-08-21T06:57:56.656Z,1755759476.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.84 m.
2025-08-21T06:57:56.658Z,1755759476.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.840103 m,
      nav range: 157.676468 m,
      bearing: 99.627170 deg,
      approach rate: 0.285593 m/s,
      LOS rate: -0.211254 deg/s,
      cmd heading: 96.121293 deg,
      new cmd heading: 95.843263 deg.

2025-08-21T06:57:56.660Z,1755759476.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672781 target range: 157.840103 and range: 158.70 m.
2025-08-21T06:57:57.043Z,1755759477.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:57.045Z,1755759477.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.84 m.
2025-08-21T06:57:57.048Z,1755759477.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.840103 m,
      nav range: 157.787979 m,
      bearing: 99.544999 deg,
      approach rate: 0.286350 m/s,
      LOS rate: -0.210856 deg/s,
      cmd heading: 95.843263 deg,
      new cmd heading: 95.596928 deg.

2025-08-21T06:57:57.049Z,1755759477.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668481 target range: 157.840103 and range: 158.70 m.
2025-08-21T06:57:57.213Z,1755759477.213 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:57.213Z,1755759477.213 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:57.213Z,1755759477.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:57.464Z,1755759477.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749361
2025-08-21T06:57:57.510Z,1755759477.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.84 m.
2025-08-21T06:57:57.517Z,1755759477.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.840103 m,
      nav range: 157.902481 m,
      bearing: 99.447874 deg,
      approach rate: 0.246150 m/s,
      LOS rate: -0.208642 deg/s,
      cmd heading: 95.596926 deg,
      new cmd heading: 95.305765 deg.

2025-08-21T06:57:57.518Z,1755759477.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663399 target range: 157.840103 and range: 158.70 m.
2025-08-21T06:57:57.718Z,1755759477.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003019
2025-08-21T06:57:57.969Z,1755759477.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253592
2025-08-21T06:57:58.086Z,1755759478.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.84 m.
2025-08-21T06:57:58.105Z,1755759478.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.840103 m,
      nav range: 158.052048 m,
      bearing: 99.315811 deg,
      approach rate: 0.260003 m/s,
      LOS rate: -0.229358 deg/s,
      cmd heading: 95.305762 deg,
      new cmd heading: 94.909953 deg.

2025-08-21T06:57:58.105Z,1755759478.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656491 target range: 157.840103 and range: 158.70 m.
2025-08-21T06:57:58.221Z,1755759478.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506273
2025-08-21T06:57:58.479Z,1755759478.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764517
2025-08-21T06:57:58.627Z,1755759478.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.84 m.
2025-08-21T06:57:58.634Z,1755759478.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.840103 m,
      nav range: 158.181183 m,
      bearing: 99.196606 deg,
      approach rate: 0.238675 m/s,
      LOS rate: -0.220142 deg/s,
      cmd heading: 94.909952 deg,
      new cmd heading: 94.552635 deg.

2025-08-21T06:57:58.634Z,1755759478.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.650255 target range: 157.840103 and range: 158.70 m.
2025-08-21T06:57:58.730Z,1755759478.730 [DAT](INFO): DAT read: Rx Time:06:57:57.5395

2025-08-21T06:57:58.732Z,1755759478.732 [DAT](INFO): Rx dataTimestamp_ set to:1755759478.730729
2025-08-21T06:57:58.733Z,1755759478.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017706
2025-08-21T06:57:58.984Z,1755759478.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269458
2025-08-21T06:57:59.041Z,1755759479.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.84 m.
2025-08-21T06:57:59.048Z,1755759479.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.840103 m,
      nav range: 158.285782 m,
      bearing: 99.106634 deg,
      approach rate: 0.252656 m/s,
      LOS rate: -0.217181 deg/s,
      cmd heading: 94.552638 deg,
      new cmd heading: 94.282903 deg.

2025-08-21T06:57:59.049Z,1755759479.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645547 target range: 157.840103 and range: 158.70 m.
2025-08-21T06:57:59.256Z,1755759479.256 [DAT](INFO): DAT read: 06:57:57.5395 LVL= 25904, 22257, 17906, 28403, AGC= 63, IDX= 451,-0.05, 3.083,-1.930,-0.940,-1.921, PHS=-1.177, 0.036, 0.937, RAW= 244.9,   2.2, CAL= 241.5,   2.3, ROT= 268.5,  -2.3

2025-08-21T06:57:59.257Z,1755759479.257 [DAT](INFO): got valid direction response:
 06:57:57.5395 LVL= 25904, 22257, 17906, 28403, AGC= 63, IDX= 451,-0.05, 3.083,-1.930,-0.940,-1.921, PHS=-1.177, 0.036, 0.937, RAW= 244.9,   2.2, CAL= 241.5,   2.3, ROT= 268.5,  -2.3

2025-08-21T06:57:59.258Z,1755759479.258 [DAT](INFO): DAT read: Bearing 340.1, -85.5 (Local)

2025-08-21T06:57:59.258Z,1755759479.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 340.1, -85.5 (Local)

2025-08-21T06:57:59.260Z,1755759479.260 [DAT](INFO): DAT read: Range 11 to 50 : 159.8 m  (Round-trip  213.1 ms) speed  0.0 m/s

2025-08-21T06:57:59.261Z,1755759479.261 [DAT](INFO): DAT read: user:1987>

2025-08-21T06:57:59.261Z,1755759479.261 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:57:59.263Z,1755759479.263 [DAT](INFO): direction in FSK: [-0.026156,-0.998852,0.040132]
2025-08-21T06:57:59.263Z,1755759479.263 [DAT](INFO): publishing direction and range info
2025-08-21T06:57:59.274Z,1755759479.274 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:57:59.274Z,1755759479.274 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:57:59.274Z,1755759479.274 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:57:59.440Z,1755759479.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 159.800003 m,
      deltaT: 3.533403 s,
      deltaX: 1.100006 m,
      approachRate: 0.311316 m/s,
      rangeRepo size: 4

2025-08-21T06:57:59.442Z,1755759479.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 158.934586 m,
      bearing: 103.201538 deg,
      lat: 36.779334 deg,
      lon: -121.859443 deg,
      deltaT: 3.533403 s,
      deltaX: 1.094482 m,
      approachRate: 0.309753 m/s,
      posRepo size: 4

2025-08-21T06:57:59.442Z,1755759479.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.93 m.
2025-08-21T06:57:59.457Z,1755759479.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.934586 m,
      nav range: 158.582428 m,
      bearing: 103.200992 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.217181 deg/s,
      cmd heading: 94.282900 deg,
      new cmd heading: 94.026282 deg.

2025-08-21T06:57:59.458Z,1755759479.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.641068 target range: 158.934586 and range: 159.80 m.
2025-08-21T06:57:59.484Z,1755759479.484 [DAT](INFO): DAT read: Tx time:06:57:58.6722

2025-08-21T06:57:59.485Z,1755759479.485 [DAT](INFO): Ping request sent.
2025-08-21T06:57:59.485Z,1755759479.485 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:57:59.485Z,1755759479.485 [DAT](INFO): publishing transmit ping time
2025-08-21T06:57:59.486Z,1755759479.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-08-21T06:57:59.737Z,1755759479.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252100
2025-08-21T06:57:59.815Z,1755759479.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:57:59.817Z,1755759479.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.93 m.
2025-08-21T06:57:59.820Z,1755759479.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.934586 m,
      nav range: 158.654282 m,
      bearing: 103.111373 deg,
      approach rate: 0.187864 m/s,
      LOS rate: -0.234206 deg/s,
      cmd heading: 94.026283 deg,
      new cmd heading: 93.757550 deg.

2025-08-21T06:57:59.821Z,1755759479.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636378 target range: 158.934586 and range: 159.80 m.
2025-08-21T06:57:59.988Z,1755759479.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503502
2025-08-21T06:58:00.201Z,1755759480.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.93 m.
2025-08-21T06:58:00.204Z,1755759480.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.934586 m,
      nav range: 158.719040 m,
      bearing: 103.025062 deg,
      approach rate: 0.168761 m/s,
      LOS rate: -0.224836 deg/s,
      cmd heading: 93.757549 deg,
      new cmd heading: 93.498724 deg.

2025-08-21T06:58:00.205Z,1755759480.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631861 target range: 158.934586 and range: 159.80 m.
2025-08-21T06:58:00.240Z,1755759480.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755566
2025-08-21T06:58:00.492Z,1755759480.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007501
2025-08-21T06:58:00.659Z,1755759480.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.93 m.
2025-08-21T06:58:00.666Z,1755759480.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.934586 m,
      nav range: 158.784027 m,
      bearing: 102.932031 deg,
      approach rate: 0.142803 m/s,
      LOS rate: -0.204344 deg/s,
      cmd heading: 93.498726 deg,
      new cmd heading: 93.219748 deg.

2025-08-21T06:58:00.666Z,1755759480.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626992 target range: 158.934586 and range: 159.80 m.
2025-08-21T06:58:00.744Z,1755759480.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259463
2025-08-21T06:58:00.996Z,1755759480.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511513
2025-08-21T06:58:01.074Z,1755759481.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.93 m.
2025-08-21T06:58:01.093Z,1755759481.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.934586 m,
      nav range: 158.860123 m,
      bearing: 102.824192 deg,
      approach rate: 0.181937 m/s,
      LOS rate: -0.257708 deg/s,
      cmd heading: 93.219747 deg,
      new cmd heading: 92.896389 deg.

2025-08-21T06:58:01.094Z,1755759481.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621348 target range: 158.934586 and range: 159.80 m.
2025-08-21T06:58:01.248Z,1755759481.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763447
2025-08-21T06:58:01.431Z,1755759481.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.93 m.
2025-08-21T06:58:01.434Z,1755759481.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.934586 m,
      nav range: 158.906097 m,
      bearing: 102.739647 deg,
      approach rate: 0.128849 m/s,
      LOS rate: -0.236875 deg/s,
      cmd heading: 92.896392 deg,
      new cmd heading: 92.642834 deg.

2025-08-21T06:58:01.435Z,1755759481.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.616922 target range: 158.934586 and range: 159.80 m.
2025-08-21T06:58:01.502Z,1755759481.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017722
2025-08-21T06:58:01.756Z,1755759481.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271432
2025-08-21T06:58:01.862Z,1755759481.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:01.864Z,1755759481.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.93 m.
2025-08-21T06:58:01.867Z,1755759481.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.934586 m,
      nav range: 158.957230 m,
      bearing: 102.640454 deg,
      approach rate: 0.118079 m/s,
      LOS rate: -0.228993 deg/s,
      cmd heading: 92.642835 deg,
      new cmd heading: 92.345354 deg.

2025-08-21T06:58:01.868Z,1755759481.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.611730 target range: 158.934586 and range: 159.80 m.
2025-08-21T06:58:02.009Z,1755759482.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523747
2025-08-21T06:58:02.252Z,1755759482.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.93 m.
2025-08-21T06:58:02.254Z,1755759482.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.934586 m,
      nav range: 158.998718 m,
      bearing: 102.551415 deg,
      approach rate: 0.107147 m/s,
      LOS rate: -0.229887 deg/s,
      cmd heading: 92.345353 deg,
      new cmd heading: 92.078308 deg.

2025-08-21T06:58:02.255Z,1755759482.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.607070 target range: 158.934586 and range: 159.80 m.
2025-08-21T06:58:02.260Z,1755759482.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775636
2025-08-21T06:58:02.513Z,1755759482.513 [DAT](INFO): DAT read: Rx Time:06:58:01.2906

2025-08-21T06:58:02.513Z,1755759482.513 [DAT](INFO): Rx dataTimestamp_ set to:1755759482.513184
2025-08-21T06:58:02.514Z,1755759482.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029267
2025-08-21T06:58:02.744Z,1755759482.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.93 m.
2025-08-21T06:58:02.746Z,1755759482.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.934586 m,
      nav range: 159.041733 m,
      bearing: 102.445979 deg,
      approach rate: 0.087351 m/s,
      LOS rate: -0.214056 deg/s,
      cmd heading: 92.078306 deg,
      new cmd heading: 91.762087 deg.

2025-08-21T06:58:02.752Z,1755759482.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.601551 target range: 158.934586 and range: 159.80 m.
2025-08-21T06:58:02.764Z,1755759482.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279499
2025-08-21T06:58:03.034Z,1755759483.034 [DAT](INFO): DAT read: 06:58:01.2906 LVL= 22688, 20465, 15042, 25795, AGC= 63, IDX= 446,-0.01,-2.720,-1.661,-0.359,-1.546, PHS=-1.072,-0.070, 1.143, RAW= 236.9,  -0.0, CAL= 233.2,   0.4, ROT= 276.8,  -0.4

2025-08-21T06:58:03.036Z,1755759483.036 [DAT](INFO): got valid direction response:
 06:58:01.2906 LVL= 22688, 20465, 15042, 25795, AGC= 63, IDX= 446,-0.01,-2.720,-1.661,-0.359,-1.546, PHS=-1.072,-0.070, 1.143, RAW= 236.9,  -0.0, CAL= 233.2,   0.4, ROT= 276.8,  -0.4

2025-08-21T06:58:03.037Z,1755759483.037 [DAT](INFO): DAT read: Bearing 317.9, -76.0 (Local)

2025-08-21T06:58:03.037Z,1755759483.037 [DAT](INFO): Local bearing/azimuth received:
 Bearing 317.9, -76.0 (Local)

2025-08-21T06:58:03.038Z,1755759483.038 [DAT](INFO): DAT read: Range 11 to 50 : 160.6 m  (Round-trip  214.2 ms) speed  0.0 m/s

2025-08-21T06:58:03.039Z,1755759483.039 [DAT](INFO): DAT read: user:1988>

2025-08-21T06:58:03.040Z,1755759483.040 [DAT](INFO): DAT read: Tx time:06:58:02.4222

2025-08-21T06:58:03.040Z,1755759483.040 [DAT](INFO): Ping request sent.
2025-08-21T06:58:03.041Z,1755759483.041 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:03.041Z,1755759483.041 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:03.042Z,1755759483.042 [DAT](INFO): direction in FSK: [0.118401,-0.992941,0.006981]
2025-08-21T06:58:03.042Z,1755759483.042 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:03.052Z,1755759483.052 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:03.055Z,1755759483.055 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:03.059Z,1755759483.059 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:03.182Z,1755759483.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.600006 m,
      deltaT: 3.783333 s,
      deltaX: 0.800003 m,
      approachRate: 0.211455 m/s,
      rangeRepo size: 4

2025-08-21T06:58:03.188Z,1755759483.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 159.730484 m,
      bearing: 100.603633 deg,
      lat: 36.779334 deg,
      lon: -121.859443 deg,
      deltaT: 3.783333 s,
      deltaX: 0.795898 m,
      approachRate: 0.210370 m/s,
      posRepo size: 4

2025-08-21T06:58:03.189Z,1755759483.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.73 m.
2025-08-21T06:58:03.196Z,1755759483.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.730484 m,
      nav range: 159.077667 m,
      bearing: 102.345522 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.214056 deg/s,
      cmd heading: 91.762089 deg,
      new cmd heading: 91.480936 deg.

2025-08-21T06:58:03.197Z,1755759483.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.596644 target range: 159.730484 and range: 160.60 m.
2025-08-21T06:58:03.606Z,1755759483.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.73 m.
2025-08-21T06:58:03.609Z,1755759483.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.730484 m,
      nav range: 159.110779 m,
      bearing: 102.238624 deg,
      approach rate: 0.077931 m/s,
      LOS rate: -0.251542 deg/s,
      cmd heading: 91.480938 deg,
      new cmd heading: 91.160315 deg.

2025-08-21T06:58:03.610Z,1755759483.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.591048 target range: 159.730484 and range: 160.60 m.
2025-08-21T06:58:04.100Z,1755759484.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:04.102Z,1755759484.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.73 m.
2025-08-21T06:58:04.108Z,1755759484.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.730484 m,
      nav range: 159.138824 m,
      bearing: 102.128661 deg,
      approach rate: 0.056626 m/s,
      LOS rate: -0.221984 deg/s,
      cmd heading: 91.160315 deg,
      new cmd heading: 90.830486 deg.

2025-08-21T06:58:04.109Z,1755759484.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.585291 target range: 159.730484 and range: 160.60 m.
2025-08-21T06:58:04.276Z,1755759484.276 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:04.276Z,1755759484.276 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:04.276Z,1755759484.276 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:04.485Z,1755759484.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.73 m.
2025-08-21T06:58:04.491Z,1755759484.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.730484 m,
      nav range: 159.161026 m,
      bearing: 102.043196 deg,
      approach rate: 0.057972 m/s,
      LOS rate: -0.223133 deg/s,
      cmd heading: 90.830485 deg,
      new cmd heading: 90.574129 deg.

2025-08-21T06:58:04.492Z,1755759484.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.580817 target range: 159.730484 and range: 160.60 m.
2025-08-21T06:58:04.529Z,1755759484.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488006
2025-08-21T06:58:04.780Z,1755759484.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739652
2025-08-21T06:58:04.909Z,1755759484.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.73 m.
2025-08-21T06:58:04.917Z,1755759484.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.730484 m,
      nav range: 159.185516 m,
      bearing: 101.947301 deg,
      approach rate: 0.057682 m/s,
      LOS rate: -0.225826 deg/s,
      cmd heading: 90.574128 deg,
      new cmd heading: 90.286490 deg.

2025-08-21T06:58:04.918Z,1755759484.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.575796 target range: 159.730484 and range: 160.60 m.
2025-08-21T06:58:05.033Z,1755759485.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991974
2025-08-21T06:58:05.284Z,1755759485.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243790
2025-08-21T06:58:05.289Z,1755759485.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.73 m.
2025-08-21T06:58:05.296Z,1755759485.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.730484 m,
      nav range: 159.194077 m,
      bearing: 101.863050 deg,
      approach rate: 0.022523 m/s,
      LOS rate: -0.221668 deg/s,
      cmd heading: 90.286488 deg,
      new cmd heading: 90.033749 deg.

2025-08-21T06:58:05.297Z,1755759485.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.571385 target range: 159.730484 and range: 160.60 m.
2025-08-21T06:58:05.536Z,1755759485.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495512
2025-08-21T06:58:05.757Z,1755759485.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.73 m.
2025-08-21T06:58:05.768Z,1755759485.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.730484 m,
      nav range: 159.199860 m,
      bearing: 101.754060 deg,
      approach rate: 0.012357 m/s,
      LOS rate: -0.232879 deg/s,
      cmd heading: 90.033750 deg,
      new cmd heading: 89.706796 deg.

2025-08-21T06:58:05.769Z,1755759485.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.565679 target range: 159.730484 and range: 160.60 m.
2025-08-21T06:58:05.792Z,1755759485.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751712
2025-08-21T06:58:06.041Z,1755759486.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000503
2025-08-21T06:58:06.128Z,1755759486.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:06.131Z,1755759486.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.73 m.
2025-08-21T06:58:06.133Z,1755759486.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.730484 m,
      nav range: 159.200256 m,
      bearing: 101.667025 deg,
      approach rate: 0.001063 m/s,
      LOS rate: -0.233173 deg/s,
      cmd heading: 89.706796 deg,
      new cmd heading: 89.445695 deg.

2025-08-21T06:58:06.134Z,1755759486.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561122 target range: 159.730484 and range: 160.60 m.
2025-08-21T06:58:06.292Z,1755759486.292 [DAT](INFO): DAT read: Rx Time:06:58:05.0412

2025-08-21T06:58:06.293Z,1755759486.293 [DAT](INFO): Rx dataTimestamp_ set to:1755759486.292419
2025-08-21T06:58:06.293Z,1755759486.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252688
2025-08-21T06:58:06.517Z,1755759486.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.73 m.
2025-08-21T06:58:06.520Z,1755759486.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.730484 m,
      nav range: 159.196503 m,
      bearing: 101.581101 deg,
      approach rate: -0.009709 m/s,
      LOS rate: -0.222248 deg/s,
      cmd heading: 89.445699 deg,
      new cmd heading: 89.187921 deg.

2025-08-21T06:58:06.521Z,1755759486.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.556623 target range: 159.730484 and range: 160.60 m.
2025-08-21T06:58:06.544Z,1755759486.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503756
2025-08-21T06:58:06.803Z,1755759486.803 [DAT](INFO): DAT read: 06:58:05.0412 LVL= 24880, 24769, 15346, 25699, AGC= 60, IDX= 452,-0.36, 1.260, 1.844,-2.738, 2.237, PHS=-0.875,-0.348, 1.264, RAW= 223.7,  -0.4, CAL= 221.2,  -0.7, ROT= 288.8,   0.7

2025-08-21T06:58:06.805Z,1755759486.805 [DAT](INFO): got valid direction response:
 06:58:05.0412 LVL= 24880, 24769, 15346, 25699, AGC= 60, IDX= 452,-0.36, 1.260, 1.844,-2.738, 2.237, PHS=-0.875,-0.348, 1.264, RAW= 223.7,  -0.4, CAL= 221.2,  -0.7, ROT= 288.8,   0.7

2025-08-21T06:58:06.806Z,1755759486.806 [DAT](INFO): DAT read: Bearing 309.3, -63.5 (Local)

2025-08-21T06:58:06.806Z,1755759486.806 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.3, -63.5 (Local)

2025-08-21T06:58:06.807Z,1755759486.807 [DAT](INFO): DAT read: Range 11 to 50 : 161.1 m  (Round-trip  214.8 ms) speed  0.0 m/s

2025-08-21T06:58:06.808Z,1755759486.808 [DAT](INFO): DAT read: user:1989>

2025-08-21T06:58:06.809Z,1755759486.809 [DAT](INFO): DAT read: Tx time:06:58:06.1722

2025-08-21T06:58:06.809Z,1755759486.809 [DAT](INFO): Ping request sent.
2025-08-21T06:58:06.809Z,1755759486.809 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:06.810Z,1755759486.810 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:06.811Z,1755759486.811 [DAT](INFO): direction in FSK: [0.322241,-0.946579,-0.012217]
2025-08-21T06:58:06.811Z,1755759486.811 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:06.812Z,1755759486.812 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:06.815Z,1755759486.815 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:06.815Z,1755759486.815 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:07.029Z,1755759487.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.100006 m,
      deltaT: 3.779706 s,
      deltaX: 0.500000 m,
      approachRate: 0.132285 m/s,
      rangeRepo size: 4

2025-08-21T06:58:07.031Z,1755759487.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.227783 m,
      bearing: 102.868073 deg,
      lat: 36.779299 deg,
      lon: -121.859444 deg,
      deltaT: 3.779706 s,
      deltaX: 0.497299 m,
      approachRate: 0.131571 m/s,
      posRepo size: 4

2025-08-21T06:58:07.036Z,1755759487.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.23 m.
2025-08-21T06:58:07.038Z,1755759487.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.227783 m,
      nav range: 159.886551 m,
      bearing: 102.867523 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.222248 deg/s,
      cmd heading: 89.187920 deg,
      new cmd heading: 88.847382 deg.

2025-08-21T06:58:07.049Z,1755759487.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550679 target range: 160.227783 and range: 161.10 m.
2025-08-21T06:58:07.375Z,1755759487.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.23 m.
2025-08-21T06:58:07.378Z,1755759487.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.227783 m,
      nav range: 159.866913 m,
      bearing: 102.788134 deg,
      approach rate: -0.056588 m/s,
      LOS rate: -0.228793 deg/s,
      cmd heading: 88.847381 deg,
      new cmd heading: 88.609185 deg.

2025-08-21T06:58:07.379Z,1755759487.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546522 target range: 160.227783 and range: 161.10 m.
2025-08-21T06:58:07.820Z,1755759487.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.23 m.
2025-08-21T06:58:07.822Z,1755759487.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.227783 m,
      nav range: 159.842102 m,
      bearing: 102.694713 deg,
      approach rate: -0.055757 m/s,
      LOS rate: -0.209976 deg/s,
      cmd heading: 88.609185 deg,
      new cmd heading: 88.328880 deg.

2025-08-21T06:58:07.824Z,1755759487.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541630 target range: 160.227783 and range: 161.10 m.
2025-08-21T06:58:08.210Z,1755759488.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:08.229Z,1755759488.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.23 m.
2025-08-21T06:58:08.236Z,1755759488.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.227783 m,
      nav range: 159.820892 m,
      bearing: 102.613523 deg,
      approach rate: -0.051853 m/s,
      LOS rate: -0.198519 deg/s,
      cmd heading: 88.328881 deg,
      new cmd heading: 88.085279 deg.

2025-08-21T06:58:08.237Z,1755759488.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537378 target range: 160.227783 and range: 161.10 m.
2025-08-21T06:58:08.309Z,1755759488.309 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:08.309Z,1755759488.309 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:08.309Z,1755759488.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:08.560Z,1755759488.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750963
2025-08-21T06:58:08.577Z,1755759488.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.23 m.
2025-08-21T06:58:08.597Z,1755759488.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.227783 m,
      nav range: 159.792969 m,
      bearing: 102.535749 deg,
      approach rate: -0.080172 m/s,
      LOS rate: -0.223338 deg/s,
      cmd heading: 88.085282 deg,
      new cmd heading: 87.851921 deg.

2025-08-21T06:58:08.598Z,1755759488.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533305 target range: 160.227783 and range: 161.10 m.
2025-08-21T06:58:08.812Z,1755759488.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002949
2025-08-21T06:58:08.978Z,1755759488.978 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 97.84,  89.17, 101.40,  86.12
2025-08-21T06:58:08.998Z,1755759488.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.23 m.
2025-08-21T06:58:09.001Z,1755759489.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.227783 m,
      nav range: 159.757614 m,
      bearing: 102.448954 deg,
      approach rate: -0.083951 m/s,
      LOS rate: -0.206143 deg/s,
      cmd heading: 87.851922 deg,
      new cmd heading: 87.591481 deg.

2025-08-21T06:58:09.002Z,1755759489.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.528760 target range: 160.227783 and range: 161.10 m.
2025-08-21T06:58:09.064Z,1755759489.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255074
2025-08-21T06:58:09.316Z,1755759489.316 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506884
2025-08-21T06:58:09.412Z,1755759489.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.23 m.
2025-08-21T06:58:09.414Z,1755759489.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.227783 m,
      nav range: 159.719894 m,
      bearing: 102.366017 deg,
      approach rate: -0.091257 m/s,
      LOS rate: -0.200700 deg/s,
      cmd heading: 87.591480 deg,
      new cmd heading: 87.342613 deg.

2025-08-21T06:58:09.420Z,1755759489.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.524416 target range: 160.227783 and range: 161.10 m.
2025-08-21T06:58:09.568Z,1755759489.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759053
2025-08-21T06:58:09.820Z,1755759489.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010795
2025-08-21T06:58:09.862Z,1755759489.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.23 m.
2025-08-21T06:58:09.865Z,1755759489.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.227783 m,
      nav range: 159.679169 m,
      bearing: 102.269949 deg,
      approach rate: -0.090505 m/s,
      LOS rate: -0.213546 deg/s,
      cmd heading: 87.342615 deg,
      new cmd heading: 87.054339 deg.

2025-08-21T06:58:09.865Z,1755759489.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519385 target range: 160.227783 and range: 161.10 m.
2025-08-21T06:58:10.072Z,1755759490.072 [DAT](INFO): DAT read: Rx Time:06:58:08.7911

2025-08-21T06:58:10.073Z,1755759490.073 [DAT](INFO): Rx dataTimestamp_ set to:1755759490.072514
2025-08-21T06:58:10.073Z,1755759490.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264046
2025-08-21T06:58:10.230Z,1755759490.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:10.233Z,1755759490.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.23 m.
2025-08-21T06:58:10.236Z,1755759490.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.227783 m,
      nav range: 159.635956 m,
      bearing: 102.194922 deg,
      approach rate: -0.116456 m/s,
      LOS rate: -0.202248 deg/s,
      cmd heading: 87.054340 deg,
      new cmd heading: 86.829199 deg.

2025-08-21T06:58:10.237Z,1755759490.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.515455 target range: 160.227783 and range: 161.10 m.
2025-08-21T06:58:10.325Z,1755759490.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515604
2025-08-21T06:58:10.582Z,1755759490.582 [DAT](INFO): DAT read: 06:58:08.7911 LVL= 24272, 28145, 17218, 25667, AGC= 61, IDX= 419, 0.12,-1.938,-1.741, 0.228,-1.208, PHS=-0.628,-0.487, 1.392, RAW= 213.6,  -2.9, CAL= 212.4,  -5.0, ROT= 297.6,   5.0

2025-08-21T06:58:10.583Z,1755759490.583 [DAT](INFO): got valid direction response:
 06:58:08.7911 LVL= 24272, 28145, 17218, 25667, AGC= 61, IDX= 419, 0.12,-1.938,-1.741, 0.228,-1.208, PHS=-0.628,-0.487, 1.392, RAW= 213.6,  -2.9, CAL= 212.4,  -5.0, ROT= 297.6,   5.0

2025-08-21T06:58:10.584Z,1755759490.584 [DAT](INFO): DAT read: Bearing 293.8, -53.7 (Local)

2025-08-21T06:58:10.585Z,1755759490.585 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.8, -53.7 (Local)

2025-08-21T06:58:10.586Z,1755759490.586 [DAT](INFO): DAT read: Range 11 to 50 : 161.0 m  (Round-trip  214.7 ms) speed  0.0 m/s

2025-08-21T06:58:10.587Z,1755759490.587 [DAT](INFO): DAT read: user:1990>

2025-08-21T06:58:10.588Z,1755759490.588 [DAT](INFO): DAT read: Tx time:06:58:09.9222

2025-08-21T06:58:10.588Z,1755759490.588 [DAT](INFO): Ping request sent.
2025-08-21T06:58:10.588Z,1755759490.588 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:10.588Z,1755759490.588 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:10.589Z,1755759490.589 [DAT](INFO): direction in FSK: [0.461533,-0.882831,-0.087156]
2025-08-21T06:58:10.590Z,1755759490.590 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:10.590Z,1755759490.590 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:10.621Z,1755759490.621 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:10.621Z,1755759490.621 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:10.727Z,1755759490.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.000000 m,
      deltaT: 3.779630 s,
      deltaX: -0.100006 m,
      approachRate: -0.026459 m/s,
      rangeRepo size: 4

2025-08-21T06:58:10.746Z,1755759490.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.128815 m,
      bearing: 101.631514 deg,
      lat: 36.779310 deg,
      lon: -121.859443 deg,
      deltaT: 3.779630 s,
      deltaX: -0.098969 m,
      approachRate: -0.026185 m/s,
      posRepo size: 4

2025-08-21T06:58:10.749Z,1755759490.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.13 m.
2025-08-21T06:58:10.766Z,1755759490.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.128815 m,
      nav range: 159.463028 m,
      bearing: 101.679919 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.202248 deg/s,
      cmd heading: 86.829196 deg,
      new cmd heading: 86.530019 deg.

2025-08-21T06:58:10.786Z,1755759490.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.510234 target range: 160.128815 and range: 161.00 m.
2025-08-21T06:58:11.187Z,1755759491.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.13 m.
2025-08-21T06:58:11.197Z,1755759491.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.128815 m,
      nav range: 159.399200 m,
      bearing: 101.586069 deg,
      approach rate: -0.139795 m/s,
      LOS rate: -0.205635 deg/s,
      cmd heading: 86.530021 deg,
      new cmd heading: 86.248358 deg.

2025-08-21T06:58:11.198Z,1755759491.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.505318 target range: 160.128815 and range: 161.00 m.
2025-08-21T06:58:11.550Z,1755759491.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.13 m.
2025-08-21T06:58:11.552Z,1755759491.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.128815 m,
      nav range: 159.342972 m,
      bearing: 101.509065 deg,
      approach rate: -0.153111 m/s,
      LOS rate: -0.209757 deg/s,
      cmd heading: 86.248357 deg,
      new cmd heading: 86.017264 deg.

2025-08-21T06:58:11.553Z,1755759491.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.501284 target range: 160.128815 and range: 161.00 m.
2025-08-21T06:58:11.981Z,1755759491.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.13 m.
2025-08-21T06:58:11.984Z,1755759491.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.128815 m,
      nav range: 159.287842 m,
      bearing: 101.426144 deg,
      approach rate: -0.127817 m/s,
      LOS rate: -0.192315 deg/s,
      cmd heading: 86.017265 deg,
      new cmd heading: 85.768418 deg.

2025-08-21T06:58:11.985Z,1755759491.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.496941 target range: 160.128815 and range: 161.00 m.
2025-08-21T06:58:12.447Z,1755759492.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:12.449Z,1755759492.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.13 m.
2025-08-21T06:58:12.457Z,1755759492.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.128815 m,
      nav range: 159.221695 m,
      bearing: 101.339990 deg,
      approach rate: -0.141254 m/s,
      LOS rate: -0.184055 deg/s,
      cmd heading: 85.768420 deg,
      new cmd heading: 85.509852 deg.

2025-08-21T06:58:12.458Z,1755759492.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.492428 target range: 160.128815 and range: 161.00 m.
2025-08-21T06:58:12.596Z,1755759492.596 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:12.596Z,1755759492.596 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:12.597Z,1755759492.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:12.844Z,1755759492.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256380
2025-08-21T06:58:12.895Z,1755759492.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.13 m.
2025-08-21T06:58:12.898Z,1755759492.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.128815 m,
      nav range: 159.149307 m,
      bearing: 101.251978 deg,
      approach rate: -0.162462 m/s,
      LOS rate: -0.197616 deg/s,
      cmd heading: 85.509850 deg,
      new cmd heading: 85.245698 deg.

2025-08-21T06:58:12.899Z,1755759492.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487818 target range: 160.128815 and range: 161.00 m.
2025-08-21T06:58:13.097Z,1755759493.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508990
2025-08-21T06:58:13.348Z,1755759493.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760125
2025-08-21T06:58:13.351Z,1755759493.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.13 m.
2025-08-21T06:58:13.354Z,1755759493.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.128815 m,
      nav range: 159.076569 m,
      bearing: 101.168793 deg,
      approach rate: -0.159455 m/s,
      LOS rate: -0.182439 deg/s,
      cmd heading: 85.245699 deg,
      new cmd heading: 84.996031 deg.

2025-08-21T06:58:13.355Z,1755759493.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.483461 target range: 160.128815 and range: 161.00 m.
2025-08-21T06:58:13.601Z,1755759493.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012786
2025-08-21T06:58:13.753Z,1755759493.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.13 m.
2025-08-21T06:58:13.756Z,1755759493.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.128815 m,
      nav range: 159.003494 m,
      bearing: 101.089976 deg,
      approach rate: -0.181734 m/s,
      LOS rate: -0.196107 deg/s,
      cmd heading: 84.996028 deg,
      new cmd heading: 84.759470 deg.

2025-08-21T06:58:13.757Z,1755759493.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.479332 target range: 160.128815 and range: 161.00 m.
2025-08-21T06:58:13.855Z,1755759493.855 [DAT](INFO): DAT read: Rx Time:06:58:12.5408

2025-08-21T06:58:13.856Z,1755759493.856 [DAT](INFO): Rx dataTimestamp_ set to:1755759493.855381
2025-08-21T06:58:13.856Z,1755759493.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268228
2025-08-21T06:58:14.104Z,1755759494.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516272
2025-08-21T06:58:14.268Z,1755759494.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.13 m.
2025-08-21T06:58:14.270Z,1755759494.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.128815 m,
      nav range: 158.928757 m,
      bearing: 101.006416 deg,
      approach rate: -0.146073 m/s,
      LOS rate: -0.163392 deg/s,
      cmd heading: 84.759472 deg,
      new cmd heading: 84.508677 deg.

2025-08-21T06:58:14.271Z,1755759494.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474955 target range: 160.128815 and range: 161.00 m.
2025-08-21T06:58:14.364Z,1755759494.364 [DAT](INFO): DAT read: 06:58:12.5408 LVL= 25664, 27377, 19746, 30259, AGC= 63, IDX= 432, 0.35,-1.716,-1.882, 0.148,-1.092, PHS=-0.521,-0.745, 1.196, RAW= 204.0,   0.8, CAL= 203.7,  -1.4, ROT= 306.3,   1.4

2025-08-21T06:58:14.365Z,1755759494.365 [DAT](INFO): got valid direction response:
 06:58:12.5408 LVL= 25664, 27377, 19746, 30259, AGC= 63, IDX= 432, 0.35,-1.716,-1.882, 0.148,-1.092, PHS=-0.521,-0.745, 1.196, RAW= 204.0,   0.8, CAL= 203.7,  -1.4, ROT= 306.3,   1.4

2025-08-21T06:58:14.366Z,1755759494.366 [DAT](INFO): DAT read: Bearing 291.2, -45.4 (Local)

2025-08-21T06:58:14.366Z,1755759494.366 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.2, -45.4 (Local)

2025-08-21T06:58:14.369Z,1755759494.369 [DAT](INFO): DAT read: Range 11 to 50 : 160.8 m  (Round-trip  214.4 ms) speed  0.0 m/s

2025-08-21T06:58:14.370Z,1755759494.370 [DAT](INFO): DAT read: user:1991>

2025-08-21T06:58:14.372Z,1755759494.372 [DAT](INFO): DAT read: Tx time:06:58:13.6722

2025-08-21T06:58:14.372Z,1755759494.372 [DAT](INFO): Ping request sent.
2025-08-21T06:58:14.372Z,1755759494.372 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:14.373Z,1755759494.373 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:14.374Z,1755759494.374 [DAT](INFO): direction in FSK: [0.591836,-0.805688,-0.024432]
2025-08-21T06:58:14.375Z,1755759494.375 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:14.375Z,1755759494.375 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:14.383Z,1755759494.383 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:14.383Z,1755759494.383 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:14.629Z,1755759494.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.800003 m,
      deltaT: 3.781469 s,
      deltaX: -0.199997 m,
      approachRate: -0.052889 m/s,
      rangeRepo size: 4

2025-08-21T06:58:14.636Z,1755759494.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 159.930374 m,
      bearing: 100.387431 deg,
      lat: 36.779322 deg,
      lon: -121.859435 deg,
      deltaT: 3.781469 s,
      deltaX: -0.198441 m,
      approachRate: -0.052477 m/s,
      posRepo size: 4

2025-08-21T06:58:14.636Z,1755759494.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.93 m.
2025-08-21T06:58:14.639Z,1755759494.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.930374 m,
      nav range: 159.260910 m,
      bearing: 100.394235 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.163392 deg/s,
      cmd heading: 84.508674 deg,
      new cmd heading: 84.330265 deg.

2025-08-21T06:58:14.644Z,1755759494.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.471841 target range: 159.930374 and range: 160.80 m.
2025-08-21T06:58:15.026Z,1755759495.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:15.029Z,1755759495.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.93 m.
2025-08-21T06:58:15.048Z,1755759495.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.930374 m,
      nav range: 159.179504 m,
      bearing: 100.315996 deg,
      approach rate: -0.203590 m/s,
      LOS rate: -0.195771 deg/s,
      cmd heading: 84.330262 deg,
      new cmd heading: 84.095427 deg.

2025-08-21T06:58:15.049Z,1755759495.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.467742 target range: 159.930374 and range: 160.80 m.
2025-08-21T06:58:15.113Z,1755759495.113 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:15.113Z,1755759495.113 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:15.113Z,1755759495.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:15.364Z,1755759495.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991813
2025-08-21T06:58:15.429Z,1755759495.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.93 m.
2025-08-21T06:58:15.437Z,1755759495.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.930374 m,
      nav range: 159.103806 m,
      bearing: 100.246873 deg,
      approach rate: -0.188874 m/s,
      LOS rate: -0.172547 deg/s,
      cmd heading: 84.095427 deg,
      new cmd heading: 83.887962 deg.

2025-08-21T06:58:15.438Z,1755759495.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.464121 target range: 159.930374 and range: 160.80 m.
2025-08-21T06:58:15.616Z,1755759495.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243711
2025-08-21T06:58:15.830Z,1755759495.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.93 m.
2025-08-21T06:58:15.861Z,1755759495.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.930374 m,
      nav range: 159.018066 m,
      bearing: 100.172388 deg,
      approach rate: -0.214808 m/s,
      LOS rate: -0.186713 deg/s,
      cmd heading: 83.887960 deg,
      new cmd heading: 83.664385 deg.

2025-08-21T06:58:15.866Z,1755759495.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.460219 target range: 159.930374 and range: 160.80 m.
2025-08-21T06:58:15.871Z,1755759495.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498179
2025-08-21T06:58:16.121Z,1755759496.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748462
2025-08-21T06:58:16.285Z,1755759496.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.93 m.
2025-08-21T06:58:16.288Z,1755759496.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.930374 m,
      nav range: 158.915878 m,
      bearing: 100.091879 deg,
      approach rate: -0.223878 m/s,
      LOS rate: -0.176497 deg/s,
      cmd heading: 83.664387 deg,
      new cmd heading: 83.422705 deg.

2025-08-21T06:58:16.289Z,1755759496.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.456001 target range: 159.930374 and range: 160.80 m.
2025-08-21T06:58:16.373Z,1755759496.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000693
2025-08-21T06:58:16.624Z,1755759496.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251823
2025-08-21T06:58:16.665Z,1755759496.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.93 m.
2025-08-21T06:58:16.670Z,1755759496.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.930374 m,
      nav range: 158.833633 m,
      bearing: 100.026813 deg,
      approach rate: -0.217365 m/s,
      LOS rate: -0.172050 deg/s,
      cmd heading: 83.422708 deg,
      new cmd heading: 83.227412 deg.

2025-08-21T06:58:16.672Z,1755759496.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.452592 target range: 159.930374 and range: 160.80 m.
2025-08-21T06:58:16.879Z,1755759496.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505958
2025-08-21T06:58:17.052Z,1755759497.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:17.054Z,1755759497.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.93 m.
2025-08-21T06:58:17.073Z,1755759497.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.930374 m,
      nav range: 158.739044 m,
      bearing: 99.957079 deg,
      approach rate: -0.242068 m/s,
      LOS rate: -0.178567 deg/s,
      cmd heading: 83.227412 deg,
      new cmd heading: 83.018085 deg.

2025-08-21T06:58:17.074Z,1755759497.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448939 target range: 159.930374 and range: 160.80 m.
2025-08-21T06:58:17.128Z,1755759497.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756048
2025-08-21T06:58:17.380Z,1755759497.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007767
2025-08-21T06:58:17.452Z,1755759497.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.93 m.
2025-08-21T06:58:17.455Z,1755759497.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.930374 m,
      nav range: 158.639450 m,
      bearing: 99.886543 deg,
      approach rate: -0.250296 m/s,
      LOS rate: -0.177379 deg/s,
      cmd heading: 83.018088 deg,
      new cmd heading: 82.806349 deg.

2025-08-21T06:58:17.456Z,1755759497.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.445243 target range: 159.930374 and range: 160.80 m.
2025-08-21T06:58:17.632Z,1755759497.632 [DAT](INFO): DAT read: Rx Time:06:58:16.2901

2025-08-21T06:58:17.633Z,1755759497.633 [DAT](INFO): Rx dataTimestamp_ set to:1755759497.632413
2025-08-21T06:58:17.633Z,1755759497.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260817
2025-08-21T06:58:17.888Z,1755759497.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514364
2025-08-21T06:58:18.029Z,1755759498.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.93 m.
2025-08-21T06:58:18.032Z,1755759498.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.930374 m,
      nav range: 158.492279 m,
      bearing: 99.790104 deg,
      approach rate: -0.255068 m/s,
      LOS rate: -0.167298 deg/s,
      cmd heading: 82.806352 deg,
      new cmd heading: 82.516768 deg.

2025-08-21T06:58:18.033Z,1755759498.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440189 target range: 159.930374 and range: 160.80 m.
2025-08-21T06:58:18.144Z,1755759498.144 [DAT](INFO): DAT read: 06:58:16.2901 LVL= 26272, 26033, 19890, 29603, AGC= 64, IDX= 441,-0.11,-2.553,-3.139,-1.097,-2.143, PHS=-0.308,-0.951, 1.002, RAW= 191.2,   3.0, CAL= 191.4,   0.2, ROT= 318.6,  -0.2

2025-08-21T06:58:18.145Z,1755759498.145 [DAT](INFO): got valid direction response:
 06:58:16.2901 LVL= 26272, 26033, 19890, 29603, AGC= 64, IDX= 441,-0.11,-2.553,-3.139,-1.097,-2.143, PHS=-0.308,-0.951, 1.002, RAW= 191.2,   3.0, CAL= 191.4,   0.2, ROT= 318.6,  -0.2

2025-08-21T06:58:18.147Z,1755759498.147 [DAT](INFO): DAT read: Bearing 283.7, -33.2 (Local)

2025-08-21T06:58:18.147Z,1755759498.147 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.7, -33.2 (Local)

2025-08-21T06:58:18.149Z,1755759498.149 [DAT](INFO): DAT read: Range 11 to 50 : 160.2 m  (Round-trip  213.7 ms) speed  0.1 m/s

2025-08-21T06:58:18.150Z,1755759498.150 [DAT](INFO): DAT read: user:1992>

2025-08-21T06:58:18.156Z,1755759498.156 [DAT](INFO): DAT read: Tx time:06:58:17.4222

2025-08-21T06:58:18.157Z,1755759498.157 [DAT](INFO): Ping request sent.
2025-08-21T06:58:18.157Z,1755759498.157 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:18.158Z,1755759498.158 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:18.164Z,1755759498.164 [DAT](INFO): direction in FSK: [0.750106,-0.661308,0.003491]
2025-08-21T06:58:18.165Z,1755759498.165 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:18.165Z,1755759498.165 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:18.180Z,1755759498.180 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:18.181Z,1755759498.181 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:18.384Z,1755759498.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.199997 m,
      deltaT: 3.778558 s,
      deltaX: -0.600006 m,
      approachRate: -0.158792 m/s,
      rangeRepo size: 4

2025-08-21T06:58:18.386Z,1755759498.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 159.332779 m,
      bearing: 101.947732 deg,
      lat: 36.779310 deg,
      lon: -121.859435 deg,
      deltaT: 3.778558 s,
      deltaX: -0.597595 m,
      approachRate: -0.158154 m/s,
      posRepo size: 4

2025-08-21T06:58:18.387Z,1755759498.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.33 m.
2025-08-21T06:58:18.394Z,1755759498.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.332779 m,
      nav range: 158.645599 m,
      bearing: 100.230865 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.167298 deg/s,
      cmd heading: 82.516765 deg,
      new cmd heading: 82.340969 deg.

2025-08-21T06:58:18.395Z,1755759498.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437121 target range: 159.332779 and range: 160.20 m.
2025-08-21T06:58:18.779Z,1755759498.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.33 m.
2025-08-21T06:58:18.782Z,1755759498.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.332779 m,
      nav range: 158.532867 m,
      bearing: 100.163973 deg,
      approach rate: -0.282126 m/s,
      LOS rate: -0.167524 deg/s,
      cmd heading: 82.340970 deg,
      new cmd heading: 82.140153 deg.

2025-08-21T06:58:18.783Z,1755759498.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433616 target range: 159.332779 and range: 160.20 m.
2025-08-21T06:58:19.197Z,1755759499.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:19.199Z,1755759499.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.33 m.
2025-08-21T06:58:19.202Z,1755759499.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.332779 m,
      nav range: 158.418945 m,
      bearing: 100.095247 deg,
      approach rate: -0.271038 m/s,
      LOS rate: -0.163626 deg/s,
      cmd heading: 82.140155 deg,
      new cmd heading: 81.933831 deg.

2025-08-21T06:58:19.203Z,1755759499.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.430015 target range: 159.332779 and range: 160.20 m.
2025-08-21T06:58:19.396Z,1755759499.396 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:19.397Z,1755759499.397 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:19.397Z,1755759499.397 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:19.556Z,1755759499.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.33 m.
2025-08-21T06:58:19.558Z,1755759499.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.332779 m,
      nav range: 158.324860 m,
      bearing: 100.038301 deg,
      approach rate: -0.263764 m/s,
      LOS rate: -0.159740 deg/s,
      cmd heading: 81.933829 deg,
      new cmd heading: 81.762890 deg.

2025-08-21T06:58:19.560Z,1755759499.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.427032 target range: 159.332779 and range: 160.20 m.
2025-08-21T06:58:19.650Z,1755759499.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492308
2025-08-21T06:58:19.903Z,1755759499.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745194
2025-08-21T06:58:20.003Z,1755759500.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.33 m.
2025-08-21T06:58:20.005Z,1755759500.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.332779 m,
      nav range: 158.196503 m,
      bearing: 99.970656 deg,
      approach rate: -0.287231 m/s,
      LOS rate: -0.151494 deg/s,
      cmd heading: 81.762890 deg,
      new cmd heading: 81.559793 deg.

2025-08-21T06:58:20.006Z,1755759500.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.423487 target range: 159.332779 and range: 160.20 m.
2025-08-21T06:58:20.154Z,1755759500.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996250
2025-08-21T06:58:20.344Z,1755759500.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.33 m.
2025-08-21T06:58:20.346Z,1755759500.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.332779 m,
      nav range: 158.096115 m,
      bearing: 99.919670 deg,
      approach rate: -0.294209 m/s,
      LOS rate: -0.149524 deg/s,
      cmd heading: 81.559794 deg,
      new cmd heading: 81.406737 deg.

2025-08-21T06:58:20.348Z,1755759500.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.420816 target range: 159.332779 and range: 160.20 m.
2025-08-21T06:58:20.406Z,1755759500.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248488
2025-08-21T06:58:20.657Z,1755759500.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499496
2025-08-21T06:58:20.759Z,1755759500.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.33 m.
2025-08-21T06:58:20.762Z,1755759500.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.332779 m,
      nav range: 157.970871 m,
      bearing: 99.858434 deg,
      approach rate: -0.301667 m/s,
      LOS rate: -0.147610 deg/s,
      cmd heading: 81.406737 deg,
      new cmd heading: 81.222886 deg.

2025-08-21T06:58:20.763Z,1755759500.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.417607 target range: 159.332779 and range: 160.20 m.
2025-08-21T06:58:20.913Z,1755759500.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754836
2025-08-21T06:58:21.161Z,1755759501.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004351
2025-08-21T06:58:21.218Z,1755759501.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:21.224Z,1755759501.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.33 m.
2025-08-21T06:58:21.226Z,1755759501.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.332779 m,
      nav range: 157.836761 m,
      bearing: 99.792582 deg,
      approach rate: -0.288546 m/s,
      LOS rate: -0.141807 deg/s,
      cmd heading: 81.222888 deg,
      new cmd heading: 81.025163 deg.

2025-08-21T06:58:21.232Z,1755759501.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414156 target range: 159.332779 and range: 160.20 m.
2025-08-21T06:58:21.412Z,1755759501.412 [DAT](INFO): DAT read: Rx Time:06:58:20.0388

2025-08-21T06:58:21.413Z,1755759501.413 [DAT](INFO): Rx dataTimestamp_ set to:1755759501.412424
2025-08-21T06:58:21.413Z,1755759501.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256161
2025-08-21T06:58:21.595Z,1755759501.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.33 m.
2025-08-21T06:58:21.598Z,1755759501.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.332779 m,
      nav range: 157.720123 m,
      bearing: 99.737297 deg,
      approach rate: -0.314258 m/s,
      LOS rate: -0.149065 deg/s,
      cmd heading: 81.025161 deg,
      new cmd heading: 80.859184 deg.

2025-08-21T06:58:21.599Z,1755759501.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411259 target range: 159.332779 and range: 160.20 m.
2025-08-21T06:58:21.666Z,1755759501.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508650
2025-08-21T06:58:21.935Z,1755759501.935 [DAT](INFO): DAT read: 06:58:20.0388 LVL= 30160, 31521, 23090, 31411, AGC= 65, IDX= 428, 0.35,-0.780,-1.670, 0.615,-0.633, PHS=-0.045,-0.993, 1.204, RAW= 184.5,  -1.8, CAL= 184.7,  -4.3, ROT= 325.3,   4.3

2025-08-21T06:58:21.940Z,1755759501.940 [DAT](INFO): got valid direction response:
 06:58:20.0388 LVL= 30160, 31521, 23090, 31411, AGC= 65, IDX= 428, 0.35,-0.780,-1.670, 0.615,-0.633, PHS=-0.045,-0.993, 1.204, RAW= 184.5,  -1.8, CAL= 184.7,  -4.3, ROT= 325.3,   4.3

2025-08-21T06:58:21.944Z,1755759501.944 [DAT](INFO): DAT read: Bearing 269.0, -26.4 (Local)

2025-08-21T06:58:21.945Z,1755759501.945 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.0, -26.4 (Local)

2025-08-21T06:58:21.950Z,1755759501.950 [DAT](INFO): DAT read: Range 11 to 50 : 159.3 m  (Round-trip  212.5 ms) speed  0.3 m/s

2025-08-21T06:58:21.953Z,1755759501.953 [DAT](INFO): DAT read: user:1993>

2025-08-21T06:58:21.955Z,1755759501.955 [DAT](INFO): DAT read: Tx time:06:58:21.1222

2025-08-21T06:58:21.956Z,1755759501.956 [DAT](INFO): Ping request sent.
2025-08-21T06:58:21.957Z,1755759501.957 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:21.958Z,1755759501.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:21.973Z,1755759501.973 [DAT](INFO): direction in FSK: [0.819830,-0.567677,-0.074979]
2025-08-21T06:58:21.974Z,1755759501.974 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:21.974Z,1755759501.974 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:21.982Z,1755759501.982 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:21.982Z,1755759501.982 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:21.984Z,1755759501.984 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:58:22.192Z,1755759502.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 159.300003 m,
      deltaT: 3.781857 s,
      deltaX: -0.899994 m,
      approachRate: -0.237977 m/s,
      rangeRepo size: 4

2025-08-21T06:58:22.194Z,1755759502.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 158.436722 m,
      bearing: 99.289433 deg,
      lat: 36.779310 deg,
      lon: -121.859435 deg,
      deltaT: 3.781857 s,
      deltaX: -0.896057 m,
      approachRate: -0.236936 m/s,
      posRepo size: 4

2025-08-21T06:58:22.195Z,1755759502.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.44 m.
2025-08-21T06:58:22.202Z,1755759502.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.436722 m,
      nav range: 157.548172 m,
      bearing: 99.665415 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.149065 deg/s,
      cmd heading: 80.859181 deg,
      new cmd heading: 80.594318 deg.

2025-08-21T06:58:22.208Z,1755759502.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406636 target range: 158.436722 and range: 159.30 m.
2025-08-21T06:58:22.552Z,1755759502.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.44 m.
2025-08-21T06:58:22.554Z,1755759502.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.436722 m,
      nav range: 157.412994 m,
      bearing: 99.610724 deg,
      approach rate: -0.371217 m/s,
      LOS rate: -0.150319 deg/s,
      cmd heading: 80.594320 deg,
      new cmd heading: 80.430106 deg.

2025-08-21T06:58:22.555Z,1755759502.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403770 target range: 158.436722 and range: 159.30 m.
2025-08-21T06:58:22.988Z,1755759502.988 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:58:23.022Z,1755759503.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.44 m.
2025-08-21T06:58:23.026Z,1755759503.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.436722 m,
      nav range: 157.257584 m,
      bearing: 99.550710 deg,
      approach rate: -0.329968 m/s,
      LOS rate: -0.127546 deg/s,
      cmd heading: 80.430108 deg,
      new cmd heading: 80.249891 deg.

2025-08-21T06:58:23.026Z,1755759503.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.400625 target range: 158.436722 and range: 159.30 m.
2025-08-21T06:58:23.374Z,1755759503.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:23.376Z,1755759503.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.44 m.
2025-08-21T06:58:23.379Z,1755759503.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.436722 m,
      nav range: 157.139023 m,
      bearing: 99.506440 deg,
      approach rate: -0.335082 m/s,
      LOS rate: -0.125213 deg/s,
      cmd heading: 80.249894 deg,
      new cmd heading: 80.116983 deg.

2025-08-21T06:58:23.400Z,1755759503.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398305 target range: 158.436722 and range: 159.30 m.
2025-08-21T06:58:23.428Z,1755759503.428 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:23.428Z,1755759503.428 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:23.429Z,1755759503.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:23.680Z,1755759503.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723840
2025-08-21T06:58:23.899Z,1755759503.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.44 m.
2025-08-21T06:58:23.901Z,1755759503.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.436722 m,
      nav range: 156.956833 m,
      bearing: 99.442974 deg,
      approach rate: -0.348800 m/s,
      LOS rate: -0.121645 deg/s,
      cmd heading: 80.116985 deg,
      new cmd heading: 79.926368 deg.

2025-08-21T06:58:23.902Z,1755759503.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394978 target range: 158.436722 and range: 159.30 m.
2025-08-21T06:58:23.933Z,1755759503.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976911
2025-08-21T06:58:24.184Z,1755759504.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227956
2025-08-21T06:58:24.320Z,1755759504.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.44 m.
2025-08-21T06:58:24.323Z,1755759504.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.436722 m,
      nav range: 156.808228 m,
      bearing: 99.395678 deg,
      approach rate: -0.352301 m/s,
      LOS rate: -0.112233 deg/s,
      cmd heading: 79.926368 deg,
      new cmd heading: 79.784345 deg.

2025-08-21T06:58:24.324Z,1755759504.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.392500 target range: 158.436722 and range: 159.30 m.
2025-08-21T06:58:24.436Z,1755759504.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479885
2025-08-21T06:58:24.688Z,1755759504.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731942
2025-08-21T06:58:24.786Z,1755759504.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.44 m.
2025-08-21T06:58:24.789Z,1755759504.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.436722 m,
      nav range: 156.641525 m,
      bearing: 99.344392 deg,
      approach rate: -0.357729 m/s,
      LOS rate: -0.110173 deg/s,
      cmd heading: 79.784348 deg,
      new cmd heading: 79.630326 deg.

2025-08-21T06:58:24.790Z,1755759504.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.389811 target range: 158.436722 and range: 159.30 m.
2025-08-21T06:58:24.944Z,1755759504.944 [DAT](INFO): DAT read: Rx Time:06:58:23.7374

2025-08-21T06:58:24.946Z,1755759504.946 [DAT](INFO): Rx dataTimestamp_ set to:1755759504.944627
2025-08-21T06:58:24.948Z,1755759504.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990461
2025-08-21T06:58:25.192Z,1755759505.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235965
2025-08-21T06:58:25.277Z,1755759505.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.44 m.
2025-08-21T06:58:25.280Z,1755759505.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 158.436722 m,
      nav range: 156.458344 m,
      bearing: 99.291108 deg,
      approach rate: -0.373299 m/s,
      LOS rate: -0.108712 deg/s,
      cmd heading: 79.630327 deg,
      new cmd heading: 79.470289 deg.

2025-08-21T06:58:25.281Z,1755759505.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387018 target range: 158.436722 and range: 159.30 m.
2025-08-21T06:58:25.456Z,1755759505.456 [DAT](INFO): DAT read: 06:58:23.7374 LVL= 30304, 32753, 20002, 32755, AGC= 62, IDX= 430,-0.39,-2.932, 2.462,-1.585,-2.916, PHS= 0.086,-0.861, 1.287, RAW= 183.9,  -5.5, CAL= 184.2,  -7.7, ROT= 325.8,   7.7

2025-08-21T06:58:25.457Z,1755759505.457 [DAT](INFO): got valid direction response:
 06:58:23.7374 LVL= 30304, 32753, 20002, 32755, AGC= 62, IDX= 430,-0.39,-2.932, 2.462,-1.585,-2.916, PHS= 0.086,-0.861, 1.287, RAW= 183.9,  -5.5, CAL= 184.2,  -7.7, ROT= 325.8,   7.7

2025-08-21T06:58:25.458Z,1755759505.458 [DAT](INFO): DAT read: Bearing 255.5, -25.8 (Local)

2025-08-21T06:58:25.459Z,1755759505.459 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.5, -25.8 (Local)

2025-08-21T06:58:25.482Z,1755759505.482 [DAT](INFO): DAT read: Range 11 to 50 : 158.3 m  (Round-trip  211.1 ms) speed  0.3 m/s

2025-08-21T06:58:25.483Z,1755759505.483 [DAT](INFO): DAT read: user:1994>

2025-08-21T06:58:25.484Z,1755759505.484 [DAT](INFO): DAT read: Tx time:06:58:24.8721

2025-08-21T06:58:25.484Z,1755759505.484 [DAT](INFO): Ping request sent.
2025-08-21T06:58:25.484Z,1755759505.484 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:25.484Z,1755759505.484 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:25.485Z,1755759505.485 [DAT](INFO): direction in FSK: [0.819623,-0.557015,-0.133986]
2025-08-21T06:58:25.485Z,1755759505.485 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:25.486Z,1755759505.486 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:25.494Z,1755759505.494 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:25.495Z,1755759505.495 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:25.686Z,1755759505.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 158.300003 m,
      deltaT: 3.529480 s,
      deltaX: -1.000000 m,
      approachRate: -0.283328 m/s,
      rangeRepo size: 4

2025-08-21T06:58:25.689Z,1755759505.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.441437 m,
      bearing: 90.561115 deg,
      lat: 36.779318 deg,
      lon: -121.859434 deg,
      deltaT: 3.529480 s,
      deltaX: -0.995285 m,
      approachRate: -0.281992 m/s,
      posRepo size: 4

2025-08-21T06:58:25.689Z,1755759505.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.44 m.
2025-08-21T06:58:25.692Z,1755759505.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.441437 m,
      nav range: 156.277298 m,
      bearing: 98.913155 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.108712 deg/s,
      cmd heading: 79.470289 deg,
      new cmd heading: 79.337022 deg.

2025-08-21T06:58:25.693Z,1755759505.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384692 target range: 157.441437 and range: 158.30 m.
2025-08-21T06:58:26.084Z,1755759506.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:26.086Z,1755759506.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.44 m.
2025-08-21T06:58:26.089Z,1755759506.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.441437 m,
      nav range: 156.115570 m,
      bearing: 98.870835 deg,
      approach rate: -0.403938 m/s,
      LOS rate: -0.105809 deg/s,
      cmd heading: 79.337025 deg,
      new cmd heading: 79.209935 deg.

2025-08-21T06:58:26.090Z,1755759506.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382474 target range: 157.441437 and range: 158.30 m.
2025-08-21T06:58:26.213Z,1755759506.213 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:26.213Z,1755759506.213 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:26.213Z,1755759506.213 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:26.464Z,1755759506.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.980161
2025-08-21T06:58:26.486Z,1755759506.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.44 m.
2025-08-21T06:58:26.489Z,1755759506.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.441437 m,
      nav range: 155.959259 m,
      bearing: 98.829828 deg,
      approach rate: -0.390761 m/s,
      LOS rate: -0.102615 deg/s,
      cmd heading: 79.209936 deg,
      new cmd heading: 79.086792 deg.

2025-08-21T06:58:26.490Z,1755759506.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.380325 target range: 157.441437 and range: 158.30 m.
2025-08-21T06:58:26.717Z,1755759506.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.232666
2025-08-21T06:58:26.893Z,1755759506.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.44 m.
2025-08-21T06:58:26.896Z,1755759506.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.441437 m,
      nav range: 155.806000 m,
      bearing: 98.789522 deg,
      approach rate: -0.390078 m/s,
      LOS rate: -0.102689 deg/s,
      cmd heading: 79.086795 deg,
      new cmd heading: 78.965757 deg.

2025-08-21T06:58:26.897Z,1755759506.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.378212 target range: 157.441437 and range: 158.30 m.
2025-08-21T06:58:26.972Z,1755759506.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.486645
2025-08-21T06:58:27.220Z,1755759507.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736308
2025-08-21T06:58:27.296Z,1755759507.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.44 m.
2025-08-21T06:58:27.298Z,1755759507.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.441437 m,
      nav range: 155.641342 m,
      bearing: 98.751793 deg,
      approach rate: -0.395501 m/s,
      LOS rate: -0.090719 deg/s,
      cmd heading: 78.965757 deg,
      new cmd heading: 78.852450 deg.

2025-08-21T06:58:27.299Z,1755759507.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376235 target range: 157.441437 and range: 158.30 m.
2025-08-21T06:58:27.472Z,1755759507.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988153
2025-08-21T06:58:27.681Z,1755759507.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.44 m.
2025-08-21T06:58:27.683Z,1755759507.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.441437 m,
      nav range: 155.487259 m,
      bearing: 98.717793 deg,
      approach rate: -0.399954 m/s,
      LOS rate: -0.088341 deg/s,
      cmd heading: 78.852451 deg,
      new cmd heading: 78.750351 deg.

2025-08-21T06:58:27.684Z,1755759507.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374453 target range: 157.441437 and range: 158.30 m.
2025-08-21T06:58:27.725Z,1755759507.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240657
2025-08-21T06:58:27.977Z,1755759507.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492804
2025-08-21T06:58:28.110Z,1755759508.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:28.113Z,1755759508.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.44 m.
2025-08-21T06:58:28.116Z,1755759508.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.441437 m,
      nav range: 155.318207 m,
      bearing: 98.681693 deg,
      approach rate: -0.391271 m/s,
      LOS rate: -0.083645 deg/s,
      cmd heading: 78.750353 deg,
      new cmd heading: 78.641935 deg.

2025-08-21T06:58:28.117Z,1755759508.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372561 target range: 157.441437 and range: 158.30 m.
2025-08-21T06:58:28.228Z,1755759508.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744431
2025-08-21T06:58:28.481Z,1755759508.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996623
2025-08-21T06:58:28.485Z,1755759508.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.44 m.
2025-08-21T06:58:28.488Z,1755759508.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.441437 m,
      nav range: 155.170898 m,
      bearing: 98.651466 deg,
      approach rate: -0.395858 m/s,
      LOS rate: -0.081307 deg/s,
      cmd heading: 78.641937 deg,
      new cmd heading: 78.551169 deg.

2025-08-21T06:58:28.489Z,1755759508.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370977 target range: 157.441437 and range: 158.30 m.
2025-08-21T06:58:28.733Z,1755759508.733 [DAT](INFO): DAT read: Rx Time:06:58:27.4856

2025-08-21T06:58:28.734Z,1755759508.734 [DAT](INFO): Rx dataTimestamp_ set to:1755759508.733267
2025-08-21T06:58:28.734Z,1755759508.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250156
2025-08-21T06:58:28.884Z,1755759508.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.44 m.
2025-08-21T06:58:28.887Z,1755759508.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.441437 m,
      nav range: 155.010300 m,
      bearing: 98.619818 deg,
      approach rate: -0.402306 m/s,
      LOS rate: -0.079361 deg/s,
      cmd heading: 78.551171 deg,
      new cmd heading: 78.456129 deg.

2025-08-21T06:58:28.888Z,1755759508.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369318 target range: 157.441437 and range: 158.30 m.
2025-08-21T06:58:28.987Z,1755759508.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.502771
2025-08-21T06:58:29.242Z,1755759509.242 [DAT](INFO): DAT read: 06:58:27.4856 LVL= 22768, 26993, 22082, 28755, AGC= 62, IDX= 428,-0.03, 1.823, 0.689, 2.678, 1.772, PHS= 0.153,-1.037, 0.862, RAW= 171.7,   0.3, CAL= 171.1,  -2.1, ROT= 338.9,   2.1

2025-08-21T06:58:29.243Z,1755759509.243 [DAT](INFO): got valid direction response:
 06:58:27.4856 LVL= 22768, 26993, 22082, 28755, AGC= 62, IDX= 428,-0.03, 1.823, 0.689, 2.678, 1.772, PHS= 0.153,-1.037, 0.862, RAW= 171.7,   0.3, CAL= 171.1,  -2.1, ROT= 338.9,   2.1

2025-08-21T06:58:29.244Z,1755759509.244 [DAT](INFO): DAT read: Bearing 252.7, -13.7 (Local)

2025-08-21T06:58:29.244Z,1755759509.244 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.7, -13.7 (Local)

2025-08-21T06:58:29.246Z,1755759509.246 [DAT](INFO): DAT read: Range 11 to 50 : 156.9 m  (Round-trip  209.3 ms) speed  0.4 m/s

2025-08-21T06:58:29.247Z,1755759509.247 [DAT](INFO): DAT read: user:1995>

2025-08-21T06:58:29.248Z,1755759509.248 [DAT](INFO): DAT read: Tx time:06:58:28.6221

2025-08-21T06:58:29.249Z,1755759509.249 [DAT](INFO): Ping request sent.
2025-08-21T06:58:29.249Z,1755759509.249 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:29.249Z,1755759509.249 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:29.250Z,1755759509.250 [DAT](INFO): direction in FSK: [0.932327,-0.359755,-0.036644]
2025-08-21T06:58:29.250Z,1755759509.250 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:29.251Z,1755759509.251 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:29.254Z,1755759509.254 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:29.254Z,1755759509.254 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:29.419Z,1755759509.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 156.899994 m,
      deltaT: 3.788567 s,
      deltaX: -1.400009 m,
      approachRate: -0.369535 m/s,
      rangeRepo size: 4

2025-08-21T06:58:29.421Z,1755759509.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 156.051498 m,
      bearing: 95.288992 deg,
      lat: 36.779322 deg,
      lon: -121.859426 deg,
      deltaT: 3.788567 s,
      deltaX: -1.389938 m,
      approachRate: -0.366877 m/s,
      posRepo size: 4

2025-08-21T06:58:29.422Z,1755759509.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.05 m.
2025-08-21T06:58:29.425Z,1755759509.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.051498 m,
      nav range: 155.462616 m,
      bearing: 98.364753 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.079361 deg/s,
      cmd heading: 78.456129 deg,
      new cmd heading: 78.331569 deg.

2025-08-21T06:58:29.426Z,1755759509.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367144 target range: 156.051498 and range: 156.90 m.
2025-08-21T06:58:29.741Z,1755759509.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.05 m.
2025-08-21T06:58:29.743Z,1755759509.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.051498 m,
      nav range: 155.319519 m,
      bearing: 98.340427 deg,
      approach rate: -0.430684 m/s,
      LOS rate: -0.073281 deg/s,
      cmd heading: 78.331567 deg,
      new cmd heading: 78.258523 deg.

2025-08-21T06:58:29.744Z,1755759509.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365869 target range: 156.051498 and range: 156.90 m.
2025-08-21T06:58:30.237Z,1755759510.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:30.239Z,1755759510.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.05 m.
2025-08-21T06:58:30.242Z,1755759510.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.051498 m,
      nav range: 155.115921 m,
      bearing: 98.306598 deg,
      approach rate: -0.407413 m/s,
      LOS rate: -0.067782 deg/s,
      cmd heading: 78.258525 deg,
      new cmd heading: 78.156906 deg.

2025-08-21T06:58:30.243Z,1755759510.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364095 target range: 156.051498 and range: 156.90 m.
2025-08-21T06:58:30.244Z,1755759510.244 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:30.244Z,1755759510.244 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:30.245Z,1755759510.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:30.496Z,1755759510.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247418
2025-08-21T06:58:30.603Z,1755759510.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.05 m.
2025-08-21T06:58:30.606Z,1755759510.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.051498 m,
      nav range: 154.966537 m,
      bearing: 98.282919 deg,
      approach rate: -0.410903 m/s,
      LOS rate: -0.065196 deg/s,
      cmd heading: 78.156905 deg,
      new cmd heading: 78.085799 deg.

2025-08-21T06:58:30.606Z,1755759510.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362854 target range: 156.051498 and range: 156.90 m.
2025-08-21T06:58:30.748Z,1755759510.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499492
2025-08-21T06:58:31.000Z,1755759511.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751584
2025-08-21T06:58:31.068Z,1755759511.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.05 m.
2025-08-21T06:58:31.086Z,1755759511.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.051498 m,
      nav range: 154.788925 m,
      bearing: 98.256107 deg,
      approach rate: -0.401029 m/s,
      LOS rate: -0.060610 deg/s,
      cmd heading: 78.085796 deg,
      new cmd heading: 78.005266 deg.

2025-08-21T06:58:31.090Z,1755759511.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361449 target range: 156.051498 and range: 156.90 m.
2025-08-21T06:58:31.253Z,1755759511.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003932
2025-08-21T06:58:31.465Z,1755759511.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.05 m.
2025-08-21T06:58:31.468Z,1755759511.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.051498 m,
      nav range: 154.606598 m,
      bearing: 98.229379 deg,
      approach rate: -0.434954 m/s,
      LOS rate: -0.063835 deg/s,
      cmd heading: 78.005268 deg,
      new cmd heading: 77.924991 deg.

2025-08-21T06:58:31.469Z,1755759511.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360048 target range: 156.051498 and range: 156.90 m.
2025-08-21T06:58:31.505Z,1755759511.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255787
2025-08-21T06:58:31.756Z,1755759511.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507530
2025-08-21T06:58:31.825Z,1755759511.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.05 m.
2025-08-21T06:58:31.845Z,1755759511.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.051498 m,
      nav range: 154.454620 m,
      bearing: 98.209402 deg,
      approach rate: -0.421456 m/s,
      LOS rate: -0.055455 deg/s,
      cmd heading: 77.924993 deg,
      new cmd heading: 77.865002 deg.

2025-08-21T06:58:31.846Z,1755759511.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359001 target range: 156.051498 and range: 156.90 m.
2025-08-21T06:58:32.008Z,1755759512.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759460
2025-08-21T06:58:32.260Z,1755759512.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011635
2025-08-21T06:58:32.333Z,1755759512.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:32.335Z,1755759512.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.05 m.
2025-08-21T06:58:32.338Z,1755759512.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.051498 m,
      nav range: 154.236435 m,
      bearing: 98.182609 deg,
      approach rate: -0.428102 m/s,
      LOS rate: -0.052644 deg/s,
      cmd heading: 77.865003 deg,
      new cmd heading: 77.784513 deg.

2025-08-21T06:58:32.339Z,1755759512.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357596 target range: 156.051498 and range: 156.90 m.
2025-08-21T06:58:32.512Z,1755759512.512 [DAT](INFO): DAT read: Rx Time:06:58:31.2335

2025-08-21T06:58:32.513Z,1755759512.513 [DAT](INFO): Rx dataTimestamp_ set to:1755759512.512436
2025-08-21T06:58:32.513Z,1755759512.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264538
2025-08-21T06:58:32.680Z,1755759512.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 156.05 m.
2025-08-21T06:58:32.683Z,1755759512.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 156.051498 m,
      nav range: 154.086899 m,
      bearing: 98.166380 deg,
      approach rate: -0.433023 m/s,
      LOS rate: -0.047041 deg/s,
      cmd heading: 77.784510 deg,
      new cmd heading: 77.735776 deg.

2025-08-21T06:58:32.684Z,1755759512.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356745 target range: 156.051498 and range: 156.90 m.
2025-08-21T06:58:32.764Z,1755759512.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515615
2025-08-21T06:58:33.025Z,1755759513.025 [DAT](INFO): DAT read: 06:58:31.2335 LVL= 31952, 32753, 28658, 32755, AGC= 67, IDX= 423, 0.04, 0.461,-1.069, 0.841, 0.268, PHS= 0.295,-1.292, 0.529, RAW= 156.8,   5.5, CAL= 156.0,   5.2, ROT= 354.0,  -5.2

2025-08-21T06:58:33.026Z,1755759513.026 [DAT](INFO): got valid direction response:
 06:58:31.2335 LVL= 31952, 32753, 28658, 32755, AGC= 67, IDX= 423, 0.04, 0.461,-1.069, 0.841, 0.268, PHS= 0.295,-1.292, 0.529, RAW= 156.8,   5.5, CAL= 156.0,   5.2, ROT= 354.0,  -5.2

2025-08-21T06:58:33.028Z,1755759513.028 [DAT](INFO): DAT read: Bearing 250.8,   0.3 (Local)

2025-08-21T06:58:33.029Z,1755759513.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.8,   0.3 (Local)

2025-08-21T06:58:33.030Z,1755759513.030 [DAT](INFO): DAT read: Range 11 to 50 : 155.4 m  (Round-trip  207.3 ms) speed  0.3 m/s

2025-08-21T06:58:33.031Z,1755759513.031 [DAT](INFO): DAT read: user:1996>

2025-08-21T06:58:33.038Z,1755759513.038 [DAT](INFO): DAT read: Tx time:06:58:32.3221

2025-08-21T06:58:33.038Z,1755759513.038 [DAT](INFO): Ping request sent.
2025-08-21T06:58:33.038Z,1755759513.038 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:33.039Z,1755759513.039 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:33.040Z,1755759513.040 [DAT](INFO): direction in FSK: [0.990429,-0.104098,0.090633]
2025-08-21T06:58:33.040Z,1755759513.040 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:33.040Z,1755759513.040 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:33.054Z,1755759513.054 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:33.054Z,1755759513.054 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:33.281Z,1755759513.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.399994 m,
      deltaT: 3.782459 s,
      deltaX: -1.500000 m,
      approachRate: -0.396567 m/s,
      rangeRepo size: 4

2025-08-21T06:58:33.283Z,1755759513.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 154.557587 m,
      bearing: 99.102614 deg,
      lat: 36.779318 deg,
      lon: -121.859426 deg,
      deltaT: 3.782459 s,
      deltaX: -1.493912 m,
      approachRate: -0.394958 m/s,
      posRepo size: 4

2025-08-21T06:58:33.296Z,1755759513.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.56 m.
2025-08-21T06:58:33.299Z,1755759513.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.557587 m,
      nav range: 153.930038 m,
      bearing: 98.321963 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.047041 deg/s,
      cmd heading: 77.735776 deg,
      new cmd heading: 77.651137 deg.

2025-08-21T06:58:33.300Z,1755759513.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355268 target range: 154.557587 and range: 155.40 m.
2025-08-21T06:58:33.652Z,1755759513.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.56 m.
2025-08-21T06:58:33.654Z,1755759513.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.557587 m,
      nav range: 153.759491 m,
      bearing: 98.306018 deg,
      approach rate: -0.459293 m/s,
      LOS rate: -0.042986 deg/s,
      cmd heading: 77.651137 deg,
      new cmd heading: 77.603251 deg.

2025-08-21T06:58:33.655Z,1755759513.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354432 target range: 154.557587 and range: 155.40 m.
2025-08-21T06:58:34.033Z,1755759514.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.56 m.
2025-08-21T06:58:34.036Z,1755759514.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.557587 m,
      nav range: 153.603561 m,
      bearing: 98.292519 deg,
      approach rate: -0.410410 m/s,
      LOS rate: -0.035566 deg/s,
      cmd heading: 77.603250 deg,
      new cmd heading: 77.562712 deg.

2025-08-21T06:58:34.037Z,1755759514.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353725 target range: 154.557587 and range: 155.40 m.
2025-08-21T06:58:34.452Z,1755759514.452 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:34.454Z,1755759514.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.56 m.
2025-08-21T06:58:34.457Z,1755759514.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.557587 m,
      nav range: 153.426270 m,
      bearing: 98.278580 deg,
      approach rate: -0.419318 m/s,
      LOS rate: -0.033007 deg/s,
      cmd heading: 77.562713 deg,
      new cmd heading: 77.520846 deg.

2025-08-21T06:58:34.458Z,1755759514.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352994 target range: 154.557587 and range: 155.40 m.
2025-08-21T06:58:34.528Z,1755759514.528 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:34.528Z,1755759514.528 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:34.528Z,1755759514.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:34.780Z,1755759514.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741824
2025-08-21T06:58:34.845Z,1755759514.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.56 m.
2025-08-21T06:58:34.848Z,1755759514.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.557587 m,
      nav range: 153.261246 m,
      bearing: 98.266741 deg,
      approach rate: -0.422081 m/s,
      LOS rate: -0.030311 deg/s,
      cmd heading: 77.520844 deg,
      new cmd heading: 77.485291 deg.

2025-08-21T06:58:34.849Z,1755759514.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352373 target range: 154.557587 and range: 155.40 m.
2025-08-21T06:58:35.032Z,1755759515.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993804
2025-08-21T06:58:35.281Z,1755759515.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.56 m.
2025-08-21T06:58:35.285Z,1755759515.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246186
2025-08-21T06:58:35.286Z,1755759515.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.557587 m,
      nav range: 153.080963 m,
      bearing: 98.256950 deg,
      approach rate: -0.413643 m/s,
      LOS rate: -0.022492 deg/s,
      cmd heading: 77.485293 deg,
      new cmd heading: 77.455884 deg.

2025-08-21T06:58:35.287Z,1755759515.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351860 target range: 154.557587 and range: 155.40 m.
2025-08-21T06:58:35.536Z,1755759515.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497802
2025-08-21T06:58:35.653Z,1755759515.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.56 m.
2025-08-21T06:58:35.656Z,1755759515.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.557587 m,
      nav range: 152.926590 m,
      bearing: 98.249620 deg,
      approach rate: -0.414798 m/s,
      LOS rate: -0.019715 deg/s,
      cmd heading: 77.455882 deg,
      new cmd heading: 77.433870 deg.

2025-08-21T06:58:35.657Z,1755759515.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351476 target range: 154.557587 and range: 155.40 m.
2025-08-21T06:58:35.788Z,1755759515.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749754
2025-08-21T06:58:36.040Z,1755759516.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001894
2025-08-21T06:58:36.050Z,1755759516.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.56 m.
2025-08-21T06:58:36.074Z,1755759516.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.557587 m,
      nav range: 152.762802 m,
      bearing: 98.242951 deg,
      approach rate: -0.413134 m/s,
      LOS rate: -0.016841 deg/s,
      cmd heading: 77.433868 deg,
      new cmd heading: 77.413838 deg.

2025-08-21T06:58:36.080Z,1755759516.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351126 target range: 154.557587 and range: 155.40 m.
2025-08-21T06:58:36.292Z,1755759516.292 [DAT](INFO): DAT read: Rx Time:06:58:34.9317

2025-08-21T06:58:36.293Z,1755759516.293 [DAT](INFO): Rx dataTimestamp_ set to:1755759516.292523
2025-08-21T06:58:36.293Z,1755759516.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254921
2025-08-21T06:58:36.512Z,1755759516.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:36.514Z,1755759516.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.56 m.
2025-08-21T06:58:36.517Z,1755759516.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 154.557587 m,
      nav range: 152.571518 m,
      bearing: 98.237003 deg,
      approach rate: -0.411908 m/s,
      LOS rate: -0.012825 deg/s,
      cmd heading: 77.413835 deg,
      new cmd heading: 77.395969 deg.

2025-08-21T06:58:36.518Z,1755759516.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350814 target range: 154.557587 and range: 155.40 m.
2025-08-21T06:58:36.544Z,1755759516.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505837
2025-08-21T06:58:36.802Z,1755759516.802 [DAT](INFO): DAT read: 06:58:34.9317 LVL= 26448, 29649, 24274, 32243, AGC= 68, IDX= 420, 0.29, 0.779,-0.986, 0.895, 0.442, PHS= 0.439,-1.383, 0.409, RAW= 149.2,   6.0, CAL= 148.5,   6.3, ROT=   1.5,  -6.3

2025-08-21T06:58:36.803Z,1755759516.803 [DAT](INFO): got valid direction response:
 06:58:34.9317 LVL= 26448, 29649, 24274, 32243, AGC= 68, IDX= 420, 0.29, 0.779,-0.986, 0.895, 0.442, PHS= 0.439,-1.383, 0.409, RAW= 149.2,   6.0, CAL= 148.5,   6.3, ROT=   1.5,  -6.3

2025-08-21T06:58:36.804Z,1755759516.804 [DAT](INFO): DAT read: Bearing 242.5,   6.5 (Local)

2025-08-21T06:58:36.804Z,1755759516.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.5,   6.5 (Local)

2025-08-21T06:58:36.806Z,1755759516.806 [DAT](INFO): DAT read: Range 11 to 50 : 154.0 m  (Round-trip  205.4 ms) speed  0.3 m/s

2025-08-21T06:58:36.806Z,1755759516.806 [DAT](INFO): DAT read: user:1997>

2025-08-21T06:58:36.807Z,1755759516.807 [DAT](INFO): DAT read: Tx time:06:58:36.0221

2025-08-21T06:58:36.807Z,1755759516.807 [DAT](INFO): Ping request sent.
2025-08-21T06:58:36.808Z,1755759516.808 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:36.808Z,1755759516.808 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:36.809Z,1755759516.809 [DAT](INFO): direction in FSK: [0.993620,0.026019,0.109734]
2025-08-21T06:58:36.809Z,1755759516.809 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:36.809Z,1755759516.809 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:36.813Z,1755759516.813 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:36.813Z,1755759516.813 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:36.933Z,1755759516.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 154.000000 m,
      deltaT: 3.777470 s,
      deltaX: -1.399994 m,
      approachRate: -0.370617 m/s,
      rangeRepo size: 4

2025-08-21T06:58:36.935Z,1755759516.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 153.163651 m,
      bearing: 97.428559 deg,
      lat: 36.779339 deg,
      lon: -121.859426 deg,
      deltaT: 3.777470 s,
      deltaX: -1.393936 m,
      approachRate: -0.369013 m/s,
      posRepo size: 4

2025-08-21T06:58:36.952Z,1755759516.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m.
2025-08-21T06:58:36.955Z,1755759516.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.163651 m,
      nav range: 152.082123 m,
      bearing: 97.346002 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012825 deg/s,
      cmd heading: 77.395968 deg,
      new cmd heading: 77.379883 deg.

2025-08-21T06:58:36.960Z,1755759516.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350534 target range: 153.163651 and range: 154.00 m.
2025-08-21T06:58:37.334Z,1755759517.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m.
2025-08-21T06:58:37.337Z,1755759517.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.163651 m,
      nav range: 151.912415 m,
      bearing: 97.343687 deg,
      approach rate: -0.422277 m/s,
      LOS rate: -0.005767 deg/s,
      cmd heading: 77.379882 deg,
      new cmd heading: 77.372929 deg.

2025-08-21T06:58:37.338Z,1755759517.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350412 target range: 153.163651 and range: 154.00 m.
2025-08-21T06:58:37.712Z,1755759517.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m.
2025-08-21T06:58:37.715Z,1755759517.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.163651 m,
      nav range: 151.757233 m,
      bearing: 97.342615 deg,
      approach rate: -0.410308 m/s,
      LOS rate: -0.002839 deg/s,
      cmd heading: 77.372929 deg,
      new cmd heading: 77.369708 deg.

2025-08-21T06:58:37.716Z,1755759517.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350356 target range: 153.163651 and range: 154.00 m.
2025-08-21T06:58:38.116Z,1755759518.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m.
2025-08-21T06:58:38.120Z,1755759518.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.163651 m,
      nav range: 151.595261 m,
      bearing: 97.342602 deg,
      approach rate: -0.401989 m/s,
      LOS rate: -0.000032 deg/s,
      cmd heading: 77.369705 deg,
      new cmd heading: 77.369666 deg.

2025-08-21T06:58:38.122Z,1755759518.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350355 target range: 153.163651 and range: 154.00 m.
2025-08-21T06:58:38.543Z,1755759518.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:38.545Z,1755759518.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m.
2025-08-21T06:58:38.548Z,1755759518.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.163651 m,
      nav range: 151.403290 m,
      bearing: 97.344635 deg,
      approach rate: -0.446119 m/s,
      LOS rate: 0.004732 deg/s,
      cmd heading: 77.369665 deg,
      new cmd heading: 77.375773 deg.

2025-08-21T06:58:38.549Z,1755759518.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350462 target range: 153.163651 and range: 154.00 m.
2025-08-21T06:58:38.560Z,1755759518.560 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:38.560Z,1755759518.560 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:38.561Z,1755759518.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:38.812Z,1755759518.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004613
2025-08-21T06:58:38.919Z,1755759518.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m.
2025-08-21T06:58:38.922Z,1755759518.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.163651 m,
      nav range: 151.239456 m,
      bearing: 97.348571 deg,
      approach rate: -0.438300 m/s,
      LOS rate: 0.010541 deg/s,
      cmd heading: 77.375771 deg,
      new cmd heading: 77.387591 deg.

2025-08-21T06:58:38.923Z,1755759518.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.350668 target range: 153.163651 and range: 154.00 m.
2025-08-21T06:58:39.064Z,1755759519.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256646
2025-08-21T06:58:39.317Z,1755759519.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509232
2025-08-21T06:58:39.403Z,1755759519.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m.
2025-08-21T06:58:39.406Z,1755759519.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.163651 m,
      nav range: 151.033600 m,
      bearing: 97.355673 deg,
      approach rate: -0.425729 m/s,
      LOS rate: 0.014707 deg/s,
      cmd heading: 77.387594 deg,
      new cmd heading: 77.408927 deg.

2025-08-21T06:58:39.406Z,1755759519.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351041 target range: 153.163651 and range: 154.00 m.
2025-08-21T06:58:39.569Z,1755759519.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761218
2025-08-21T06:58:39.788Z,1755759519.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.16 m.
2025-08-21T06:58:39.790Z,1755759519.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.163651 m,
      nav range: 150.869522 m,
      bearing: 97.362454 deg,
      approach rate: -0.426271 m/s,
      LOS rate: 0.017636 deg/s,
      cmd heading: 77.408924 deg,
      new cmd heading: 77.429289 deg.

2025-08-21T06:58:39.794Z,1755759519.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351396 target range: 153.163651 and range: 154.00 m.
2025-08-21T06:58:39.824Z,1755759519.824 [DAT](INFO): DAT read: Rx Time:06:58:38.6295

2025-08-21T06:58:39.826Z,1755759519.826 [DAT](INFO): Rx dataTimestamp_ set to:1755759519.825111
2025-08-21T06:58:39.827Z,1755759519.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018964
2025-08-21T06:58:40.072Z,1755759520.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264719
2025-08-21T06:58:40.341Z,1755759520.341 [DAT](INFO): DAT read: 06:58:38.6295 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.34,-0.606,-2.484,-0.780,-1.032, PHS= 0.528,-1.407, 0.209, RAW= 141.1,   7.5, CAL= 140.8,   8.3, ROT=   9.2,  -8.3

2025-08-21T06:58:40.345Z,1755759520.345 [DAT](INFO): got valid direction response:
 06:58:38.6295 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.34,-0.606,-2.484,-0.780,-1.032, PHS= 0.528,-1.407, 0.209, RAW= 141.1,   7.5, CAL= 140.8,   8.3, ROT=   9.2,  -8.3

2025-08-21T06:58:40.349Z,1755759520.349 [DAT](INFO): DAT read: Bearing 235.7,  13.2 (Local)

2025-08-21T06:58:40.350Z,1755759520.350 [DAT](INFO): Local bearing/azimuth received:
 Bearing 235.7,  13.2 (Local)

2025-08-21T06:58:40.353Z,1755759520.353 [DAT](INFO): DAT read: Range 11 to 50 : 152.4 m  (Round-trip  203.3 ms) speed  0.4 m/s

2025-08-21T06:58:40.353Z,1755759520.353 [DAT](INFO): DAT read: user:1998>

2025-08-21T06:58:40.354Z,1755759520.354 [DAT](INFO): DAT read: Tx time:06:58:39.7221

2025-08-21T06:58:40.354Z,1755759520.354 [DAT](INFO): Ping request sent.
2025-08-21T06:58:40.354Z,1755759520.354 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:40.355Z,1755759520.355 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:40.368Z,1755759520.368 [DAT](INFO): direction in FSK: [0.976797,0.158207,0.144356]
2025-08-21T06:58:40.368Z,1755759520.368 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:40.369Z,1755759520.369 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:40.380Z,1755759520.380 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:40.381Z,1755759520.381 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:40.488Z,1755759520.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 152.399994 m,
      deltaT: 3.528886 s,
      deltaX: -1.600006 m,
      approachRate: -0.453403 m/s,
      rangeRepo size: 4

2025-08-21T06:58:40.490Z,1755759520.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 151.572784 m,
      bearing: 96.237021 deg,
      lat: 36.779368 deg,
      lon: -121.859445 deg,
      deltaT: 3.528886 s,
      deltaX: -1.590866 m,
      approachRate: -0.450813 m/s,
      posRepo size: 4

2025-08-21T06:58:40.494Z,1755759520.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.57 m.
2025-08-21T06:58:40.509Z,1755759520.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.572784 m,
      nav range: 148.518845 m,
      bearing: 96.232799 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017636 deg/s,
      cmd heading: 77.429292 deg,
      new cmd heading: 77.466098 deg.

2025-08-21T06:58:40.510Z,1755759520.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352039 target range: 151.572784 and range: 152.40 m.
2025-08-21T06:58:40.861Z,1755759520.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:40.863Z,1755759520.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.57 m.
2025-08-21T06:58:40.866Z,1755759520.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.572784 m,
      nav range: 148.334564 m,
      bearing: 96.244001 deg,
      approach rate: -0.485024 m/s,
      LOS rate: 0.029520 deg/s,
      cmd heading: 77.466100 deg,
      new cmd heading: 77.499748 deg.

2025-08-21T06:58:40.867Z,1755759520.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.352626 target range: 151.572784 and range: 152.40 m.
2025-08-21T06:58:41.081Z,1755759521.081 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:41.081Z,1755759521.081 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:41.081Z,1755759521.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:41.294Z,1755759521.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.57 m.
2025-08-21T06:58:41.296Z,1755759521.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.572784 m,
      nav range: 148.144577 m,
      bearing: 96.258500 deg,
      approach rate: -0.441556 m/s,
      LOS rate: 0.033742 deg/s,
      cmd heading: 77.499745 deg,
      new cmd heading: 77.543300 deg.

2025-08-21T06:58:41.297Z,1755759521.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.353386 target range: 151.572784 and range: 152.40 m.
2025-08-21T06:58:41.332Z,1755759521.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977783
2025-08-21T06:58:41.584Z,1755759521.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229702
2025-08-21T06:58:41.665Z,1755759521.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.57 m.
2025-08-21T06:58:41.668Z,1755759521.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.572784 m,
      nav range: 147.981171 m,
      bearing: 96.272072 deg,
      approach rate: -0.439933 m/s,
      LOS rate: 0.036578 deg/s,
      cmd heading: 77.543302 deg,
      new cmd heading: 77.584060 deg.

2025-08-21T06:58:41.669Z,1755759521.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354097 target range: 151.572784 and range: 152.40 m.
2025-08-21T06:58:41.836Z,1755759521.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481681
2025-08-21T06:58:42.084Z,1755759522.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.57 m.
2025-08-21T06:58:42.090Z,1755759522.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735335
2025-08-21T06:58:42.094Z,1755759522.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.572784 m,
      nav range: 147.797806 m,
      bearing: 96.288503 deg,
      approach rate: -0.438310 m/s,
      LOS rate: 0.039325 deg/s,
      cmd heading: 77.584057 deg,
      new cmd heading: 77.633411 deg.

2025-08-21T06:58:42.096Z,1755759522.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.354959 target range: 151.572784 and range: 152.40 m.
2025-08-21T06:58:42.340Z,1755759522.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985894
2025-08-21T06:58:42.498Z,1755759522.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.57 m.
2025-08-21T06:58:42.501Z,1755759522.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.572784 m,
      nav range: 147.620071 m,
      bearing: 96.305781 deg,
      approach rate: -0.428484 m/s,
      LOS rate: 0.041706 deg/s,
      cmd heading: 77.633412 deg,
      new cmd heading: 77.685311 deg.

2025-08-21T06:58:42.502Z,1755759522.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355864 target range: 151.572784 and range: 152.40 m.
2025-08-21T06:58:42.593Z,1755759522.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238091
2025-08-21T06:58:42.844Z,1755759522.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489946
2025-08-21T06:58:42.885Z,1755759522.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:42.887Z,1755759522.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.57 m.
2025-08-21T06:58:42.890Z,1755759522.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.572784 m,
      nav range: 147.454880 m,
      bearing: 96.323753 deg,
      approach rate: -0.424608 m/s,
      LOS rate: 0.046245 deg/s,
      cmd heading: 77.685308 deg,
      new cmd heading: 77.739282 deg.

2025-08-21T06:58:42.891Z,1755759522.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.356806 target range: 151.572784 and range: 152.40 m.
2025-08-21T06:58:43.097Z,1755759523.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742762
2025-08-21T06:58:43.348Z,1755759523.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993736
2025-08-21T06:58:43.363Z,1755759523.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.57 m.
2025-08-21T06:58:43.369Z,1755759523.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.572784 m,
      nav range: 147.266342 m,
      bearing: 96.344145 deg,
      approach rate: -0.396652 m/s,
      LOS rate: 0.042956 deg/s,
      cmd heading: 77.739280 deg,
      new cmd heading: 77.800534 deg.

2025-08-21T06:58:43.370Z,1755759523.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.357875 target range: 151.572784 and range: 152.40 m.
2025-08-21T06:58:43.602Z,1755759523.602 [DAT](INFO): DAT read: Rx Time:06:58:42.3275

2025-08-21T06:58:43.602Z,1755759523.602 [DAT](INFO): Rx dataTimestamp_ set to:1755759523.602053
2025-08-21T06:58:43.603Z,1755759523.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248377
2025-08-21T06:58:43.771Z,1755759523.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.57 m.
2025-08-21T06:58:43.777Z,1755759523.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.572784 m,
      nav range: 147.094879 m,
      bearing: 96.364598 deg,
      approach rate: -0.420293 m/s,
      LOS rate: 0.050195 deg/s,
      cmd heading: 77.800533 deg,
      new cmd heading: 77.861966 deg.

2025-08-21T06:58:43.778Z,1755759523.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.358948 target range: 151.572784 and range: 152.40 m.
2025-08-21T06:58:43.853Z,1755759523.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498530
2025-08-21T06:58:44.113Z,1755759524.113 [DAT](INFO): DAT read: 06:58:42.3275 LVL= 27264, 32753, 29170, 32755, AGC= 67, IDX= 425,-0.34,-1.306, 3.129,-1.773,-1.788, PHS= 0.584,-1.321,-0.029, RAW= 131.6,   9.1, CAL= 131.5,  10.3, ROT=  18.5, -10.3

2025-08-21T06:58:44.114Z,1755759524.114 [DAT](INFO): got valid direction response:
 06:58:42.3275 LVL= 27264, 32753, 29170, 32755, AGC= 67, IDX= 425,-0.34,-1.306, 3.129,-1.773,-1.788, PHS= 0.584,-1.321,-0.029, RAW= 131.6,   9.1, CAL= 131.5,  10.3, ROT=  18.5, -10.3

2025-08-21T06:58:44.115Z,1755759524.115 [DAT](INFO): DAT read: Bearing 229.8,  21.0 (Local)

2025-08-21T06:58:44.116Z,1755759524.116 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.8,  21.0 (Local)

2025-08-21T06:58:44.117Z,1755759524.117 [DAT](INFO): DAT read: Range 11 to 50 : 150.9 m  (Round-trip  201.2 ms) speed  0.4 m/s

2025-08-21T06:58:44.118Z,1755759524.118 [DAT](INFO): DAT read: user:1999>

2025-08-21T06:58:44.119Z,1755759524.119 [DAT](INFO): DAT read: Tx time:06:58:43.4221

2025-08-21T06:58:44.119Z,1755759524.119 [DAT](INFO): Ping request sent.
2025-08-21T06:58:44.127Z,1755759524.127 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:44.128Z,1755759524.128 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:44.129Z,1755759524.129 [DAT](INFO): direction in FSK: [0.933041,0.312191,0.178802]
2025-08-21T06:58:44.129Z,1755759524.129 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:44.129Z,1755759524.129 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:44.149Z,1755759524.149 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:44.150Z,1755759524.150 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:44.228Z,1755759524.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 150.899994 m,
      deltaT: 3.779805 s,
      deltaX: -1.500000 m,
      approachRate: -0.396846 m/s,
      rangeRepo size: 4

2025-08-21T06:58:44.250Z,1755759524.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 150.078033 m,
      bearing: 97.927837 deg,
      lat: 36.779339 deg,
      lon: -121.859446 deg,
      deltaT: 3.779805 s,
      deltaX: -1.494751 m,
      approachRate: -0.395457 m/s,
      posRepo size: 4

2025-08-21T06:58:44.257Z,1755759524.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-21T06:58:44.287Z,1755759524.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.078033 m,
      nav range: 147.214676 m,
      bearing: 97.636159 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.050195 deg/s,
      cmd heading: 77.861964 deg,
      new cmd heading: 77.929826 deg.

2025-08-21T06:58:44.294Z,1755759524.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.360132 target range: 150.078033 and range: 150.90 m.
2025-08-21T06:58:44.678Z,1755759524.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-21T06:58:44.681Z,1755759524.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.078033 m,
      nav range: 147.016006 m,
      bearing: 97.666376 deg,
      approach rate: -0.435104 m/s,
      LOS rate: 0.066267 deg/s,
      cmd heading: 77.929829 deg,
      new cmd heading: 78.020602 deg.

2025-08-21T06:58:44.681Z,1755759524.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.361716 target range: 150.078033 and range: 150.90 m.
2025-08-21T06:58:45.047Z,1755759525.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:45.049Z,1755759525.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-21T06:58:45.053Z,1755759525.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.078033 m,
      nav range: 146.861710 m,
      bearing: 97.690472 deg,
      approach rate: -0.415090 m/s,
      LOS rate: 0.064889 deg/s,
      cmd heading: 78.020602 deg,
      new cmd heading: 78.092963 deg.

2025-08-21T06:58:45.054Z,1755759525.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.362979 target range: 150.078033 and range: 150.90 m.
2025-08-21T06:58:45.112Z,1755759525.112 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:45.113Z,1755759525.113 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:45.113Z,1755759525.113 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:45.364Z,1755759525.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245241
2025-08-21T06:58:45.473Z,1755759525.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-21T06:58:45.492Z,1755759525.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.078033 m,
      nav range: 146.691299 m,
      bearing: 97.718686 deg,
      approach rate: -0.402600 m/s,
      LOS rate: 0.066736 deg/s,
      cmd heading: 78.092961 deg,
      new cmd heading: 78.177704 deg.

2025-08-21T06:58:45.493Z,1755759525.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.364458 target range: 150.078033 and range: 150.90 m.
2025-08-21T06:58:45.616Z,1755759525.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497136
2025-08-21T06:58:45.852Z,1755759525.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-21T06:58:45.855Z,1755759525.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.078033 m,
      nav range: 146.539047 m,
      bearing: 97.744442 deg,
      approach rate: -0.400955 m/s,
      LOS rate: 0.067897 deg/s,
      cmd heading: 78.177703 deg,
      new cmd heading: 78.255049 deg.

2025-08-21T06:58:45.856Z,1755759525.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.365808 target range: 150.078033 and range: 150.90 m.
2025-08-21T06:58:45.868Z,1755759525.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749066
2025-08-21T06:58:46.120Z,1755759526.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001222
2025-08-21T06:58:46.295Z,1755759526.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-21T06:58:46.317Z,1755759526.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.078033 m,
      nav range: 146.378662 m,
      bearing: 97.772491 deg,
      approach rate: -0.363844 m/s,
      LOS rate: 0.063703 deg/s,
      cmd heading: 78.255048 deg,
      new cmd heading: 78.339290 deg.

2025-08-21T06:58:46.336Z,1755759526.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.367279 target range: 150.078033 and range: 150.90 m.
2025-08-21T06:58:46.372Z,1755759526.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253288
2025-08-21T06:58:46.625Z,1755759526.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505474
2025-08-21T06:58:46.764Z,1755759526.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-21T06:58:46.767Z,1755759526.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.078033 m,
      nav range: 146.179855 m,
      bearing: 97.805804 deg,
      approach rate: -0.422022 m/s,
      LOS rate: 0.070812 deg/s,
      cmd heading: 78.339292 deg,
      new cmd heading: 78.439366 deg.

2025-08-21T06:58:46.768Z,1755759526.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.369025 target range: 150.078033 and range: 150.90 m.
2025-08-21T06:58:46.878Z,1755759526.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758469
2025-08-21T06:58:47.128Z,1755759527.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009208
2025-08-21T06:58:47.136Z,1755759527.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:47.138Z,1755759527.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-21T06:58:47.147Z,1755759527.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.078033 m,
      nav range: 146.037888 m,
      bearing: 97.829785 deg,
      approach rate: -0.379406 m/s,
      LOS rate: 0.064151 deg/s,
      cmd heading: 78.439368 deg,
      new cmd heading: 78.511381 deg.

2025-08-21T06:58:47.153Z,1755759527.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.370282 target range: 150.078033 and range: 150.90 m.
2025-08-21T06:58:47.381Z,1755759527.381 [DAT](INFO): DAT read: Rx Time:06:58:46.0255

2025-08-21T06:58:47.381Z,1755759527.381 [DAT](INFO): Rx dataTimestamp_ set to:1755759527.381179
2025-08-21T06:58:47.382Z,1755759527.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263322
2025-08-21T06:58:47.530Z,1755759527.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.08 m.
2025-08-21T06:58:47.533Z,1755759527.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 150.078033 m,
      nav range: 145.878860 m,
      bearing: 97.856618 deg,
      approach rate: -0.406149 m/s,
      LOS rate: 0.068604 deg/s,
      cmd heading: 78.511378 deg,
      new cmd heading: 78.591964 deg.

2025-08-21T06:58:47.534Z,1755759527.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.371688 target range: 150.078033 and range: 150.90 m.
2025-08-21T06:58:47.636Z,1755759527.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516477
2025-08-21T06:58:47.894Z,1755759527.894 [DAT](INFO): DAT read: 06:58:46.0255 LVL= 24672, 32753, 29458, 32755, AGC= 64, IDX= 421,-0.25,-0.577,-2.478,-1.165,-1.099, PHS= 0.624,-1.334,-0.110, RAW= 128.2,   9.6, CAL= 128.3,  10.9, ROT=  21.7, -10.9

2025-08-21T06:58:47.895Z,1755759527.895 [DAT](INFO): got valid direction response:
 06:58:46.0255 LVL= 24672, 32753, 29458, 32755, AGC= 64, IDX= 421,-0.25,-0.577,-2.478,-1.165,-1.099, PHS= 0.624,-1.334,-0.110, RAW= 128.2,   9.6, CAL= 128.3,  10.9, ROT=  21.7, -10.9

2025-08-21T06:58:47.896Z,1755759527.896 [DAT](INFO): DAT read: Bearing 226.2,  23.4 (Local)

2025-08-21T06:58:47.896Z,1755759527.896 [DAT](INFO): Local bearing/azimuth received:
 Bearing 226.2,  23.4 (Local)

2025-08-21T06:58:47.898Z,1755759527.898 [DAT](INFO): DAT read: Range 11 to 50 : 149.4 m  (Round-trip  199.3 ms) speed  0.3 m/s

2025-08-21T06:58:47.899Z,1755759527.899 [DAT](INFO): DAT read: user:2000>

2025-08-21T06:58:47.908Z,1755759527.908 [DAT](INFO): DAT read: Tx time:06:58:47.1221

2025-08-21T06:58:47.908Z,1755759527.908 [DAT](INFO): Ping request sent.
2025-08-21T06:58:47.908Z,1755759527.908 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:47.908Z,1755759527.908 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:47.909Z,1755759527.909 [DAT](INFO): direction in FSK: [0.912370,0.363076,0.189095]
2025-08-21T06:58:47.910Z,1755759527.910 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:47.910Z,1755759527.910 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:47.917Z,1755759527.917 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:47.917Z,1755759527.917 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:47.968Z,1755759527.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 149.399994 m,
      deltaT: 3.783364 s,
      deltaX: -1.500000 m,
      approachRate: -0.396473 m/s,
      rangeRepo size: 4

2025-08-21T06:58:47.970Z,1755759527.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 148.580048 m,
      bearing: 97.894830 deg,
      lat: 36.779339 deg,
      lon: -121.859454 deg,
      deltaT: 3.783364 s,
      deltaX: -1.497986 m,
      approachRate: -0.395940 m/s,
      posRepo size: 4

2025-08-21T06:58:47.976Z,1755759527.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:47.978Z,1755759527.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 144.976929 m,
      bearing: 97.923747 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.068604 deg/s,
      cmd heading: 78.591961 deg,
      new cmd heading: 78.682060 deg.

2025-08-21T06:58:47.984Z,1755759527.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.373261 target range: 148.580048 and range: 149.40 m.
2025-08-21T06:58:48.397Z,1755759528.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:48.404Z,1755759528.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 144.791763 m,
      bearing: 97.955454 deg,
      approach rate: -0.431526 m/s,
      LOS rate: 0.073986 deg/s,
      cmd heading: 78.682058 deg,
      new cmd heading: 78.777299 deg.

2025-08-21T06:58:48.405Z,1755759528.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.374923 target range: 148.580048 and range: 149.40 m.
2025-08-21T06:58:48.797Z,1755759528.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:48.800Z,1755759528.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 144.622406 m,
      bearing: 97.984482 deg,
      approach rate: -0.423043 m/s,
      LOS rate: 0.072597 deg/s,
      cmd heading: 78.777298 deg,
      new cmd heading: 78.864486 deg.

2025-08-21T06:58:48.801Z,1755759528.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376445 target range: 148.580048 and range: 149.40 m.
2025-08-21T06:58:49.249Z,1755759529.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:49.251Z,1755759529.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:49.254Z,1755759529.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 144.437607 m,
      bearing: 98.016121 deg,
      approach rate: -0.407073 m/s,
      LOS rate: 0.069783 deg/s,
      cmd heading: 78.864486 deg,
      new cmd heading: 78.959524 deg.

2025-08-21T06:58:49.255Z,1755759529.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.378104 target range: 148.580048 and range: 149.40 m.
2025-08-21T06:58:49.400Z,1755759529.400 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:49.400Z,1755759529.400 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:49.401Z,1755759529.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:49.652Z,1755759529.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744187
2025-08-21T06:58:49.667Z,1755759529.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:49.669Z,1755759529.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 144.260452 m,
      bearing: 98.044071 deg,
      approach rate: -0.426557 m/s,
      LOS rate: 0.067380 deg/s,
      cmd heading: 78.959521 deg,
      new cmd heading: 79.043472 deg.

2025-08-21T06:58:49.670Z,1755759529.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.379569 target range: 148.580048 and range: 149.40 m.
2025-08-21T06:58:49.904Z,1755759529.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996254
2025-08-21T06:58:50.157Z,1755759530.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248581
2025-08-21T06:58:50.176Z,1755759530.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:50.180Z,1755759530.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 144.050201 m,
      bearing: 98.077336 deg,
      approach rate: -0.412418 m/s,
      LOS rate: 0.065347 deg/s,
      cmd heading: 79.043471 deg,
      new cmd heading: 79.143412 deg.

2025-08-21T06:58:50.181Z,1755759530.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381313 target range: 148.580048 and range: 149.40 m.
2025-08-21T06:58:50.410Z,1755759530.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501410
2025-08-21T06:58:50.615Z,1755759530.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:50.618Z,1755759530.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 143.860138 m,
      bearing: 98.107312 deg,
      approach rate: -0.433507 m/s,
      LOS rate: 0.068460 deg/s,
      cmd heading: 79.143410 deg,
      new cmd heading: 79.233455 deg.

2025-08-21T06:58:50.618Z,1755759530.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.382885 target range: 148.580048 and range: 149.40 m.
2025-08-21T06:58:50.660Z,1755759530.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752368
2025-08-21T06:58:50.912Z,1755759530.912 [DAT](INFO): DAT read: Rx Time:06:58:49.7234

2025-08-21T06:58:50.913Z,1755759530.913 [DAT](INFO): Rx dataTimestamp_ set to:1755759530.912494
2025-08-21T06:58:50.913Z,1755759530.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005272
2025-08-21T06:58:50.948Z,1755759530.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:50.951Z,1755759530.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 143.717300 m,
      bearing: 98.129745 deg,
      approach rate: -0.428158 m/s,
      LOS rate: 0.067311 deg/s,
      cmd heading: 79.233452 deg,
      new cmd heading: 79.300819 deg.

2025-08-21T06:58:50.952Z,1755759530.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.384060 target range: 148.580048 and range: 149.40 m.
2025-08-21T06:58:51.165Z,1755759531.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256657
2025-08-21T06:58:51.445Z,1755759531.445 [DAT](INFO): DAT read: 06:58:49.7234 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 415,-0.07,-2.013, 2.426,-2.550,-2.536, PHS= 0.625,-1.276,-0.058, RAW= 129.2,   8.5, CAL= 129.3,   9.8, ROT=  20.7,  -9.8

2025-08-21T06:58:51.446Z,1755759531.446 [DAT](INFO): got valid direction response:
 06:58:49.7234 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 415,-0.07,-2.013, 2.426,-2.550,-2.536, PHS= 0.625,-1.276,-0.058, RAW= 129.2,   8.5, CAL= 129.3,   9.8, ROT=  20.7,  -9.8

2025-08-21T06:58:51.447Z,1755759531.447 [DAT](INFO): DAT read: Bearing 224.5,  22.8 (Local)

2025-08-21T06:58:51.455Z,1755759531.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing 224.5,  22.8 (Local)

2025-08-21T06:58:51.457Z,1755759531.457 [DAT](INFO): DAT read: Range 11 to 50 : 147.8 m  (Round-trip  197.1 ms) speed  0.4 m/s

2025-08-21T06:58:51.458Z,1755759531.458 [DAT](INFO): DAT read: user:2001>

2025-08-21T06:58:51.458Z,1755759531.458 [DAT](INFO): DAT read: Tx time:06:58:50.8221

2025-08-21T06:58:51.459Z,1755759531.459 [DAT](INFO): Ping request sent.
2025-08-21T06:58:51.459Z,1755759531.459 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:51.462Z,1755759531.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:51.467Z,1755759531.467 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:51.468Z,1755759531.468 [DAT](INFO): direction in FSK: [0.921794,0.348317,0.170209]
2025-08-21T06:58:51.468Z,1755759531.468 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:51.469Z,1755759531.469 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:51.473Z,1755759531.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 147.800003 m,
      deltaT: 3.529964 s,
      deltaX: -1.599991 m,
      approachRate: -0.453260 m/s,
      rangeRepo size: 4

2025-08-21T06:58:51.474Z,1755759531.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:51.480Z,1755759531.480 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:51.480Z,1755759531.480 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:51.485Z,1755759531.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 143.499817 m,
      bearing: 98.163767 deg,
      approach rate: -0.414806 m/s,
      LOS rate: 0.064990 deg/s,
      cmd heading: 79.300819 deg,
      new cmd heading: 79.403041 deg.

2025-08-21T06:58:51.486Z,1755759531.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385844 target range: 148.580048 and range: 147.80 m.
2025-08-21T06:58:51.495Z,1755759531.495 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:51.496Z,1755759531.496 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:51.496Z,1755759531.496 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:51.668Z,1755759531.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.209645
2025-08-21T06:58:51.831Z,1755759531.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:51.844Z,1755759531.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 143.341034 m,
      bearing: 98.189603 deg,
      approach rate: -0.443612 m/s,
      LOS rate: 0.072261 deg/s,
      cmd heading: 79.403039 deg,
      new cmd heading: 79.480632 deg.

2025-08-21T06:58:51.845Z,1755759531.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.387199 target range: 148.580048 and range: 147.80 m.
2025-08-21T06:58:51.922Z,1755759531.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.463265
2025-08-21T06:58:52.173Z,1755759532.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.714232
2025-08-21T06:58:52.182Z,1755759532.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:52.185Z,1755759532.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 143.183502 m,
      bearing: 98.214961 deg,
      approach rate: -0.447971 m/s,
      LOS rate: 0.072188 deg/s,
      cmd heading: 79.480630 deg,
      new cmd heading: 79.556786 deg.

2025-08-21T06:58:52.186Z,1755759532.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.388528 target range: 148.580048 and range: 147.80 m.
2025-08-21T06:58:52.425Z,1755759532.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.966212
2025-08-21T06:58:52.617Z,1755759532.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:52.620Z,1755759532.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 142.993240 m,
      bearing: 98.245259 deg,
      approach rate: -0.437574 m/s,
      LOS rate: 0.069775 deg/s,
      cmd heading: 79.556787 deg,
      new cmd heading: 79.647803 deg.

2025-08-21T06:58:52.621Z,1755759532.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.390116 target range: 148.580048 and range: 147.80 m.
2025-08-21T06:58:52.678Z,1755759532.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.219087
2025-08-21T06:58:52.928Z,1755759532.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469451
2025-08-21T06:58:52.985Z,1755759532.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:52.992Z,1755759532.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 142.839798 m,
      bearing: 98.269679 deg,
      approach rate: -0.416707 m/s,
      LOS rate: 0.066389 deg/s,
      cmd heading: 79.647806 deg,
      new cmd heading: 79.721144 deg.

2025-08-21T06:58:52.993Z,1755759532.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391396 target range: 148.580048 and range: 147.80 m.
2025-08-21T06:58:53.108Z,1755759533.108 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:58:53.180Z,1755759533.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721358
2025-08-21T06:58:53.432Z,1755759533.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973499
2025-08-21T06:58:53.493Z,1755759533.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:53.495Z,1755759533.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:53.498Z,1755759533.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 142.597458 m,
      bearing: 98.306826 deg,
      approach rate: -0.475314 m/s,
      LOS rate: 0.072982 deg/s,
      cmd heading: 79.721142 deg,
      new cmd heading: 79.832772 deg.

2025-08-21T06:58:53.499Z,1755759533.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.393345 target range: 148.580048 and range: 147.80 m.
2025-08-21T06:58:53.684Z,1755759533.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225437
2025-08-21T06:58:53.844Z,1755759533.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:53.846Z,1755759533.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 142.441422 m,
      bearing: 98.330817 deg,
      approach rate: -0.447948 m/s,
      LOS rate: 0.068948 deg/s,
      cmd heading: 79.832774 deg,
      new cmd heading: 79.904826 deg.

2025-08-21T06:58:53.847Z,1755759533.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.394602 target range: 148.580048 and range: 147.80 m.
2025-08-21T06:58:53.936Z,1755759533.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477458
2025-08-21T06:58:54.112Z,1755759534.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:58:54.188Z,1755759534.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729380
2025-08-21T06:58:54.322Z,1755759534.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:54.324Z,1755759534.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 142.213760 m,
      bearing: 98.365543 deg,
      approach rate: -0.476156 m/s,
      LOS rate: 0.072745 deg/s,
      cmd heading: 79.904826 deg,
      new cmd heading: 80.009169 deg.

2025-08-21T06:58:54.325Z,1755759534.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.396423 target range: 148.580048 and range: 147.80 m.
2025-08-21T06:58:54.443Z,1755759534.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983781
2025-08-21T06:58:54.693Z,1755759534.693 [DAT](INFO): DAT read: Rx Time:06:58:53.4211

2025-08-21T06:58:54.693Z,1755759534.693 [DAT](INFO): Rx dataTimestamp_ set to:1755759534.692949
2025-08-21T06:58:54.694Z,1755759534.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234992
2025-08-21T06:58:54.789Z,1755759534.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:54.792Z,1755759534.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 141.996918 m,
      bearing: 98.402252 deg,
      approach rate: -0.463990 m/s,
      LOS rate: 0.078670 deg/s,
      cmd heading: 80.009171 deg,
      new cmd heading: 80.119468 deg.

2025-08-21T06:58:54.793Z,1755759534.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.398348 target range: 148.580048 and range: 147.80 m.
2025-08-21T06:58:54.944Z,1755759534.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485643
2025-08-21T06:58:55.182Z,1755759535.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.58 m.
2025-08-21T06:58:55.186Z,1755759535.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 148.580048 m,
      nav range: 141.814911 m,
      bearing: 98.432720 deg,
      approach rate: -0.462693 m/s,
      LOS rate: 0.077555 deg/s,
      cmd heading: 80.119465 deg,
      new cmd heading: 80.210986 deg.

2025-08-21T06:58:55.187Z,1755759535.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.399946 target range: 148.580048 and range: 147.80 m.
2025-08-21T06:58:55.210Z,1755759535.210 [DAT](INFO): DAT read: 06:58:53.4211 LVL= 26576, 32753, 31026, 32755, AGC= 66, IDX= 424, 0.11, 2.217, 0.288, 1.659, 1.668, PHS= 0.651,-1.335,-0.053, RAW= 129.5,   8.5, CAL= 129.6,   9.8, ROT=  20.4,  -9.8

2025-08-21T06:58:55.211Z,1755759535.211 [DAT](INFO): got valid direction response:
 06:58:53.4211 LVL= 26576, 32753, 31026, 32755, AGC= 66, IDX= 424, 0.11, 2.217, 0.288, 1.659, 1.668, PHS= 0.651,-1.335,-0.053, RAW= 129.5,   8.5, CAL= 129.6,   9.8, ROT=  20.4,  -9.8

2025-08-21T06:58:55.212Z,1755759535.212 [DAT](INFO): DAT read: Bearing 225.8,  22.1 (Local)

2025-08-21T06:58:55.213Z,1755759535.213 [DAT](INFO): Local bearing/azimuth received:
 Bearing 225.8,  22.1 (Local)

2025-08-21T06:58:55.214Z,1755759535.214 [DAT](INFO): DAT read: Range 11 to 50 : 146.1 m  (Round-trip  194.9 ms) speed  0.4 m/s

2025-08-21T06:58:55.215Z,1755759535.215 [DAT](INFO): DAT read: user:2002>

2025-08-21T06:58:55.216Z,1755759535.216 [DAT](INFO): DAT read: Tx time:06:58:54.5221

2025-08-21T06:58:55.216Z,1755759535.216 [DAT](INFO): Ping request sent.
2025-08-21T06:58:55.216Z,1755759535.216 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:55.216Z,1755759535.216 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:55.217Z,1755759535.217 [DAT](INFO): direction in FSK: [0.923605,0.343486,0.170209]
2025-08-21T06:58:55.218Z,1755759535.218 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:55.218Z,1755759535.218 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:55.229Z,1755759535.229 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:55.229Z,1755759535.229 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:55.614Z,1755759535.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 146.100006 m,
      deltaT: 3.786097 s,
      deltaX: -1.699997 m,
      approachRate: -0.449010 m/s,
      rangeRepo size: 4

2025-08-21T06:58:55.633Z,1755759535.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 145.295120 m,
      bearing: 98.083571 deg,
      lat: 36.779347 deg,
      lon: -121.859447 deg,
      deltaT: 7.316061 s,
      deltaX: -3.284927 m,
      approachRate: -0.449002 m/s,
      posRepo size: 4

2025-08-21T06:58:55.633Z,1755759535.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.30 m.
2025-08-21T06:58:55.640Z,1755759535.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.295120 m,
      nav range: 142.081512 m,
      bearing: 98.092310 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.077555 deg/s,
      cmd heading: 80.210989 deg,
      new cmd heading: 80.311367 deg.

2025-08-21T06:58:55.641Z,1755759535.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401698 target range: 145.295120 and range: 146.10 m.
2025-08-21T06:58:55.974Z,1755759535.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:55.976Z,1755759535.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.30 m.
2025-08-21T06:58:55.979Z,1755759535.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.295120 m,
      nav range: 141.910675 m,
      bearing: 98.120789 deg,
      approach rate: -0.471034 m/s,
      LOS rate: 0.078619 deg/s,
      cmd heading: 80.311366 deg,
      new cmd heading: 80.396907 deg.

2025-08-21T06:58:55.980Z,1755759535.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.403191 target range: 145.295120 and range: 146.10 m.
2025-08-21T06:58:56.212Z,1755759536.212 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:58:56.212Z,1755759536.212 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:58:56.212Z,1755759536.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:58:56.376Z,1755759536.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.30 m.
2025-08-21T06:58:56.378Z,1755759536.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.295120 m,
      nav range: 141.724319 m,
      bearing: 98.151698 deg,
      approach rate: -0.467218 m/s,
      LOS rate: 0.077594 deg/s,
      cmd heading: 80.396907 deg,
      new cmd heading: 80.489755 deg.

2025-08-21T06:58:56.379Z,1755759536.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.404811 target range: 145.295120 and range: 146.10 m.
2025-08-21T06:58:56.467Z,1755759536.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250623
2025-08-21T06:58:56.716Z,1755759536.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500181
2025-08-21T06:58:56.797Z,1755759536.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.30 m.
2025-08-21T06:58:56.800Z,1755759536.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.295120 m,
      nav range: 141.514435 m,
      bearing: 98.186628 deg,
      approach rate: -0.498010 m/s,
      LOS rate: 0.083005 deg/s,
      cmd heading: 80.489756 deg,
      new cmd heading: 80.594703 deg.

2025-08-21T06:58:56.801Z,1755759536.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.406643 target range: 145.295120 and range: 146.10 m.
2025-08-21T06:58:56.968Z,1755759536.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752305
2025-08-21T06:58:57.189Z,1755759537.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.30 m.
2025-08-21T06:58:57.192Z,1755759537.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.295120 m,
      nav range: 141.318756 m,
      bearing: 98.219161 deg,
      approach rate: -0.498472 m/s,
      LOS rate: 0.082988 deg/s,
      cmd heading: 80.594702 deg,
      new cmd heading: 80.692435 deg.

2025-08-21T06:58:57.193Z,1755759537.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.408349 target range: 145.295120 and range: 146.10 m.
2025-08-21T06:58:57.220Z,1755759537.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004058
2025-08-21T06:58:57.475Z,1755759537.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258274
2025-08-21T06:58:57.641Z,1755759537.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.30 m.
2025-08-21T06:58:57.644Z,1755759537.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.295120 m,
      nav range: 141.106476 m,
      bearing: 98.255895 deg,
      approach rate: -0.469786 m/s,
      LOS rate: 0.081418 deg/s,
      cmd heading: 80.692435 deg,
      new cmd heading: 80.802805 deg.

2025-08-21T06:58:57.645Z,1755759537.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.410275 target range: 145.295120 and range: 146.10 m.
2025-08-21T06:58:57.724Z,1755759537.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508290
2025-08-21T06:58:57.976Z,1755759537.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760287
2025-08-21T06:58:57.985Z,1755759537.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:58:57.987Z,1755759537.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.30 m.
2025-08-21T06:58:57.990Z,1755759537.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.295120 m,
      nav range: 140.944061 m,
      bearing: 98.283775 deg,
      approach rate: -0.469998 m/s,
      LOS rate: 0.080772 deg/s,
      cmd heading: 80.802804 deg,
      new cmd heading: 80.886540 deg.

2025-08-21T06:58:57.990Z,1755759537.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.411736 target range: 145.295120 and range: 146.10 m.
2025-08-21T06:58:58.228Z,1755759538.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012200
2025-08-21T06:58:58.388Z,1755759538.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.30 m.
2025-08-21T06:58:58.390Z,1755759538.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.295120 m,
      nav range: 140.755203 m,
      bearing: 98.316074 deg,
      approach rate: -0.470686 m/s,
      LOS rate: 0.080605 deg/s,
      cmd heading: 80.886543 deg,
      new cmd heading: 80.983569 deg.

2025-08-21T06:58:58.392Z,1755759538.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.413430 target range: 145.295120 and range: 146.10 m.
2025-08-21T06:58:58.484Z,1755759538.484 [DAT](INFO): DAT read: Rx Time:06:58:57.1188

2025-08-21T06:58:58.485Z,1755759538.485 [DAT](INFO): Rx dataTimestamp_ set to:1755759538.484349
2025-08-21T06:58:58.487Z,1755759538.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270418
2025-08-21T06:58:58.733Z,1755759538.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516803
2025-08-21T06:58:58.876Z,1755759538.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.30 m.
2025-08-21T06:58:58.879Z,1755759538.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 145.295120 m,
      nav range: 140.512405 m,
      bearing: 98.355464 deg,
      approach rate: -0.497286 m/s,
      LOS rate: 0.080816 deg/s,
      cmd heading: 80.983565 deg,
      new cmd heading: 81.101939 deg.

2025-08-21T06:58:58.880Z,1755759538.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.415496 target range: 145.295120 and range: 146.10 m.
2025-08-21T06:58:58.990Z,1755759538.990 [DAT](INFO): DAT read: 06:58:57.1188 LVL= 30448, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.38, 0.398,-1.509,-0.139,-0.096, PHS= 0.596,-1.368,-0.087, RAW= 130.0,  10.0, CAL= 129.8,  11.2, ROT=  20.2, -11.2

2025-08-21T06:58:58.992Z,1755759538.992 [DAT](INFO): got valid direction response:
 06:58:57.1188 LVL= 30448, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.38, 0.398,-1.509,-0.139,-0.096, PHS= 0.596,-1.368,-0.087, RAW= 130.0,  10.0, CAL= 129.8,  11.2, ROT=  20.2, -11.2

2025-08-21T06:58:58.993Z,1755759538.993 [DAT](INFO): DAT read: Bearing 228.9,  20.8 (Local)

2025-08-21T06:58:58.993Z,1755759538.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.9,  20.8 (Local)

2025-08-21T06:58:58.995Z,1755759538.995 [DAT](INFO): DAT read: Range 11 to 50 : 144.3 m  (Round-trip  192.5 ms) speed  0.4 m/s

2025-08-21T06:58:58.996Z,1755759538.996 [DAT](INFO): DAT read: user:2003>

2025-08-21T06:58:58.997Z,1755759538.997 [DAT](INFO): DAT read: Tx time:06:58:58.2221

2025-08-21T06:58:58.997Z,1755759538.997 [DAT](INFO): Ping request sent.
2025-08-21T06:58:58.997Z,1755759538.997 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:58:58.998Z,1755759538.998 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:58:58.999Z,1755759538.999 [DAT](INFO): direction in FSK: [0.920620,0.338722,0.194234]
2025-08-21T06:58:58.999Z,1755759538.999 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:59.006Z,1755759539.006 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:59.013Z,1755759539.013 [DAT](INFO): publishing transmit ping time
2025-08-21T06:58:59.013Z,1755759539.013 [DAT](INFO): publishing direction and range info
2025-08-21T06:58:59.222Z,1755759539.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 144.300003 m,
      deltaT: 3.780468 s,
      deltaX: -1.800003 m,
      approachRate: -0.476132 m/s,
      rangeRepo size: 4

2025-08-21T06:58:59.228Z,1755759539.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.501251 m,
      bearing: 98.764111 deg,
      lat: 36.779340 deg,
      lon: -121.859449 deg,
      deltaT: 3.780468 s,
      deltaX: -1.793869 m,
      approachRate: -0.474510 m/s,
      posRepo size: 4

2025-08-21T06:58:59.229Z,1755759539.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-21T06:58:59.236Z,1755759539.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.501251 m,
      nav range: 140.291336 m,
      bearing: 98.696827 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.080816 deg/s,
      cmd heading: 81.101939 deg,
      new cmd heading: 81.185536 deg.

2025-08-21T06:58:59.237Z,1755759539.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.416955 target range: 143.501251 and range: 144.30 m.
2025-08-21T06:58:59.646Z,1755759539.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-21T06:58:59.652Z,1755759539.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.501251 m,
      nav range: 140.084839 m,
      bearing: 98.731448 deg,
      approach rate: -0.486300 m/s,
      LOS rate: 0.081652 deg/s,
      cmd heading: 81.185534 deg,
      new cmd heading: 81.289550 deg.

2025-08-21T06:58:59.653Z,1755759539.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.418770 target range: 143.501251 and range: 144.30 m.
2025-08-21T06:59:00.020Z,1755759540.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:00.025Z,1755759540.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-21T06:59:00.028Z,1755759540.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.501251 m,
      nav range: 139.897949 m,
      bearing: 98.762771 deg,
      approach rate: -0.492420 m/s,
      LOS rate: 0.082640 deg/s,
      cmd heading: 81.289551 deg,
      new cmd heading: 81.383645 deg.

2025-08-21T06:59:00.029Z,1755759540.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.420413 target range: 143.501251 and range: 144.30 m.
2025-08-21T06:59:00.247Z,1755759540.247 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:00.247Z,1755759540.247 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:00.247Z,1755759540.247 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:00.418Z,1755759540.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-21T06:59:00.421Z,1755759540.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.501251 m,
      nav range: 139.695389 m,
      bearing: 98.796631 deg,
      approach rate: -0.515099 m/s,
      LOS rate: 0.086228 deg/s,
      cmd heading: 81.383644 deg,
      new cmd heading: 81.485371 deg.

2025-08-21T06:59:00.422Z,1755759540.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.422188 target range: 143.501251 and range: 144.30 m.
2025-08-21T06:59:00.502Z,1755759540.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501626
2025-08-21T06:59:00.749Z,1755759540.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751174
2025-08-21T06:59:00.952Z,1755759540.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-21T06:59:00.954Z,1755759540.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.501251 m,
      nav range: 139.428802 m,
      bearing: 98.838923 deg,
      approach rate: -0.500136 m/s,
      LOS rate: 0.079495 deg/s,
      cmd heading: 81.485373 deg,
      new cmd heading: 81.612492 deg.

2025-08-21T06:59:00.955Z,1755759540.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424407 target range: 143.501251 and range: 144.30 m.
2025-08-21T06:59:01.001Z,1755759541.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003567
2025-08-21T06:59:01.252Z,1755759541.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254811
2025-08-21T06:59:01.349Z,1755759541.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-21T06:59:01.363Z,1755759541.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.501251 m,
      nav range: 139.230118 m,
      bearing: 98.870402 deg,
      approach rate: -0.500369 m/s,
      LOS rate: 0.079389 deg/s,
      cmd heading: 81.612489 deg,
      new cmd heading: 81.707060 deg.

2025-08-21T06:59:01.364Z,1755759541.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426057 target range: 143.501251 and range: 144.30 m.
2025-08-21T06:59:01.507Z,1755759541.507 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508977
2025-08-21T06:59:01.756Z,1755759541.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758823
2025-08-21T06:59:01.872Z,1755759541.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-21T06:59:01.874Z,1755759541.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.501251 m,
      nav range: 138.979446 m,
      bearing: 98.910522 deg,
      approach rate: -0.479011 m/s,
      LOS rate: 0.076805 deg/s,
      cmd heading: 81.707060 deg,
      new cmd heading: 81.827638 deg.

2025-08-21T06:59:01.880Z,1755759541.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428162 target range: 143.501251 and range: 144.30 m.
2025-08-21T06:59:02.008Z,1755759542.008 [DAT](INFO): DAT read: Rx Time:06:59:00.8164

2025-08-21T06:59:02.009Z,1755759542.009 [DAT](INFO): Rx dataTimestamp_ set to:1755759542.008490
2025-08-21T06:59:02.009Z,1755759542.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011910
2025-08-21T06:59:02.230Z,1755759542.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:02.240Z,1755759542.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.50 m.
2025-08-21T06:59:02.245Z,1755759542.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.501251 m,
      nav range: 138.800415 m,
      bearing: 98.939135 deg,
      approach rate: -0.485695 m/s,
      LOS rate: 0.077726 deg/s,
      cmd heading: 81.827640 deg,
      new cmd heading: 81.913591 deg.

2025-08-21T06:59:02.249Z,1755759542.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.429662 target range: 143.501251 and range: 144.30 m.
2025-08-21T06:59:02.265Z,1755759542.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267501
2025-08-21T06:59:02.557Z,1755759542.557 [DAT](INFO): DAT read: 06:59:00.8164 LVL= 26592, 32753, 32370, 32755, AGC= 66, IDX= 423,-0.24, 0.831,-1.036, 0.309, 0.349, PHS= 0.583,-1.340,-0.084, RAW= 130.0,  10.0, CAL= 129.9,  11.2, ROT=  20.1, -11.2

2025-08-21T06:59:02.566Z,1755759542.566 [DAT](INFO): got valid direction response:
 06:59:00.8164 LVL= 26592, 32753, 32370, 32755, AGC= 66, IDX= 423,-0.24, 0.831,-1.036, 0.309, 0.349, PHS= 0.583,-1.340,-0.084, RAW= 130.0,  10.0, CAL= 129.9,  11.2, ROT=  20.1, -11.2

2025-08-21T06:59:02.596Z,1755759542.596 [DAT](INFO): DAT read: Bearing 229.9,  19.7 (Local)

2025-08-21T06:59:02.596Z,1755759542.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing 229.9,  19.7 (Local)

2025-08-21T06:59:02.598Z,1755759542.598 [DAT](INFO): DAT read: Range 11 to 50 : 142.5 m  (Round-trip  190.1 ms) speed  0.4 m/s

2025-08-21T06:59:02.598Z,1755759542.598 [DAT](INFO): DAT read: user:2004>

2025-08-21T06:59:02.611Z,1755759542.611 [DAT](INFO): DAT read: Tx time:06:59:01.9221

2025-08-21T06:59:02.612Z,1755759542.612 [DAT](INFO): Ping request sent.
2025-08-21T06:59:02.612Z,1755759542.612 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:02.612Z,1755759542.612 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:02.613Z,1755759542.613 [DAT](INFO): direction in FSK: [0.921209,0.337115,0.194234]
2025-08-21T06:59:02.613Z,1755759542.613 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:02.613Z,1755759542.613 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:02.629Z,1755759542.629 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:02.629Z,1755759542.629 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:02.746Z,1755759542.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 142.500000 m,
      deltaT: 3.533996 s,
      deltaX: -1.800003 m,
      approachRate: -0.509339 m/s,
      rangeRepo size: 4

2025-08-21T06:59:02.752Z,1755759542.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.710297 m,
      bearing: 99.404221 deg,
      lat: 36.779340 deg,
      lon: -121.859447 deg,
      deltaT: 3.533996 s,
      deltaX: -1.790955 m,
      approachRate: -0.506779 m/s,
      posRepo size: 4

2025-08-21T06:59:02.753Z,1755759542.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:02.760Z,1755759542.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 138.731705 m,
      bearing: 98.963560 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.077726 deg/s,
      cmd heading: 81.913591 deg,
      new cmd heading: 82.031289 deg.

2025-08-21T06:59:02.761Z,1755759542.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431716 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:03.159Z,1755759543.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:03.172Z,1755759543.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 138.530579 m,
      bearing: 98.993254 deg,
      approach rate: -0.486907 m/s,
      LOS rate: 0.071991 deg/s,
      cmd heading: 82.031289 deg,
      new cmd heading: 82.120500 deg.

2025-08-21T06:59:03.176Z,1755759543.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433273 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:03.610Z,1755759543.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:03.633Z,1755759543.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 138.299454 m,
      bearing: 99.027726 deg,
      approach rate: -0.511640 m/s,
      LOS rate: 0.076438 deg/s,
      cmd heading: 82.120498 deg,
      new cmd heading: 82.224087 deg.

2025-08-21T06:59:03.634Z,1755759543.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435081 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:04.012Z,1755759544.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:04.015Z,1755759544.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 138.100647 m,
      bearing: 99.057300 deg,
      approach rate: -0.494046 m/s,
      LOS rate: 0.073600 deg/s,
      cmd heading: 82.224085 deg,
      new cmd heading: 82.312936 deg.

2025-08-21T06:59:04.016Z,1755759544.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.436632 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:04.400Z,1755759544.400 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:04.402Z,1755759544.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:04.405Z,1755759544.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 137.908371 m,
      bearing: 99.085817 deg,
      approach rate: -0.493437 m/s,
      LOS rate: 0.073286 deg/s,
      cmd heading: 82.312939 deg,
      new cmd heading: 82.398610 deg.

2025-08-21T06:59:04.406Z,1755759544.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.438127 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:04.554Z,1755759544.554 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:04.555Z,1755759544.555 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:04.556Z,1755759544.556 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:04.805Z,1755759544.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.192805
2025-08-21T06:59:04.848Z,1755759544.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:04.850Z,1755759544.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 137.699234 m,
      bearing: 99.115183 deg,
      approach rate: -0.469283 m/s,
      LOS rate: 0.065993 deg/s,
      cmd heading: 82.398610 deg,
      new cmd heading: 82.486840 deg.

2025-08-21T06:59:04.855Z,1755759544.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439667 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:05.057Z,1755759545.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445399
2025-08-21T06:59:05.212Z,1755759545.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:05.215Z,1755759545.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 137.510590 m,
      bearing: 99.141626 deg,
      approach rate: -0.517632 m/s,
      LOS rate: 0.072659 deg/s,
      cmd heading: 82.486842 deg,
      new cmd heading: 82.566281 deg.

2025-08-21T06:59:05.216Z,1755759545.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.441054 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:05.309Z,1755759545.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.697032
2025-08-21T06:59:05.564Z,1755759545.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.951820
2025-08-21T06:59:05.665Z,1755759545.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:05.671Z,1755759545.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 137.281677 m,
      bearing: 99.173557 deg,
      approach rate: -0.505580 m/s,
      LOS rate: 0.070641 deg/s,
      cmd heading: 82.566284 deg,
      new cmd heading: 82.662237 deg.

2025-08-21T06:59:05.700Z,1755759545.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442728 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:05.821Z,1755759545.821 [DAT](INFO): DAT read: 06:59:04.5139 LVL= 26864, 32753, 32754, 32755, AGC= 69, IDX= 414,-0.25, 2.601, 0.670, 2.099, 2.165, PHS= 0.538,-1.451,-0.110, RAW= 131.4,  11.6, CAL= 130.9,  12.8, ROT=  19.1, -12.8

2025-08-21T06:59:05.823Z,1755759545.823 [DAT](INFO): got valid direction response:
 06:59:04.5139 LVL= 26864, 32753, 32754, 32755, AGC= 69, IDX= 414,-0.25, 2.601, 0.670, 2.099, 2.165, PHS= 0.538,-1.451,-0.110, RAW= 131.4,  11.6, CAL= 130.9,  12.8, ROT=  19.1, -12.8

2025-08-21T06:59:05.824Z,1755759545.824 [DAT](INFO): DAT read: Rx Time:06:59:04.5139

2025-08-21T06:59:05.825Z,1755759545.825 [DAT](INFO): Rx dataTimestamp_ set to:1755759545.823945
2025-08-21T06:59:05.825Z,1755759545.825 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-21T06:59:05.826Z,1755759545.826 [DAT](INFO): Received low SNR in chirp
2025-08-21T06:59:05.840Z,1755759545.840 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T06:59:05.841Z,1755759545.841 [DAT](INFO): direction in FSK: [0.921466,0.319086,0.221548]
2025-08-21T06:59:05.844Z,1755759545.844 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:05.844Z,1755759545.844 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:05.844Z,1755759545.844 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:06.064Z,1755759546.064 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:06.064Z,1755759546.064 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:06.065Z,1755759546.065 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:06.085Z,1755759546.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:06.092Z,1755759546.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 137.082397 m,
      bearing: 99.201180 deg,
      approach rate: -0.474182 m/s,
      LOS rate: 0.065824 deg/s,
      cmd heading: 82.662235 deg,
      new cmd heading: 82.745224 deg.

2025-08-21T06:59:06.093Z,1755759546.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.444177 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:06.277Z,1755759546.277 [CTD_Seabird](ERROR): Failed to parse device response: 70.06,10.6036,3.75403,
2025-08-21T06:59:06.316Z,1755759546.316 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:06.316Z,1755759546.316 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:06.317Z,1755759546.317 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:06.432Z,1755759546.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:06.434Z,1755759546.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:06.437Z,1755759546.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 136.893661 m,
      bearing: 99.227302 deg,
      approach rate: -0.541696 m/s,
      LOS rate: 0.075075 deg/s,
      cmd heading: 82.745221 deg,
      new cmd heading: 82.823693 deg.

2025-08-21T06:59:06.437Z,1755759546.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.445546 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:06.571Z,1755759546.571 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:06.571Z,1755759546.571 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:06.571Z,1755759546.571 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:06.820Z,1755759546.820 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:06.820Z,1755759546.820 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:06.820Z,1755759546.820 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:06.883Z,1755759546.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:06.886Z,1755759546.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 136.691177 m,
      bearing: 99.256479 deg,
      approach rate: -0.454591 m/s,
      LOS rate: 0.065602 deg/s,
      cmd heading: 82.823693 deg,
      new cmd heading: 82.911354 deg.

2025-08-21T06:59:06.887Z,1755759546.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447076 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:07.072Z,1755759547.072 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:07.072Z,1755759547.072 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:07.072Z,1755759547.072 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:07.244Z,1755759547.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:07.246Z,1755759547.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 136.518524 m,
      bearing: 99.281327 deg,
      approach rate: -0.473191 m/s,
      LOS rate: 0.068188 deg/s,
      cmd heading: 82.911352 deg,
      new cmd heading: 82.985992 deg.

2025-08-21T06:59:07.248Z,1755759547.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.448379 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:07.324Z,1755759547.324 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:07.324Z,1755759547.324 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:07.324Z,1755759547.324 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:07.578Z,1755759547.578 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:07.579Z,1755759547.579 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:07.579Z,1755759547.579 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:07.686Z,1755759547.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:07.689Z,1755759547.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 136.306564 m,
      bearing: 99.311390 deg,
      approach rate: -0.479457 m/s,
      LOS rate: 0.068109 deg/s,
      cmd heading: 82.985992 deg,
      new cmd heading: 83.076322 deg.

2025-08-21T06:59:07.690Z,1755759547.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.449955 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:07.828Z,1755759547.828 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:07.828Z,1755759547.828 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:07.829Z,1755759547.829 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:08.070Z,1755759548.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:08.080Z,1755759548.080 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:08.080Z,1755759548.080 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:08.080Z,1755759548.080 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:08.093Z,1755759548.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 136.122864 m,
      bearing: 99.337380 deg,
      approach rate: -0.477769 m/s,
      LOS rate: 0.067686 deg/s,
      cmd heading: 83.076322 deg,
      new cmd heading: 83.154397 deg.

2025-08-21T06:59:08.094Z,1755759548.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.451318 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:08.332Z,1755759548.332 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:08.332Z,1755759548.332 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:08.332Z,1755759548.332 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:08.463Z,1755759548.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:08.465Z,1755759548.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:08.468Z,1755759548.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 135.932968 m,
      bearing: 99.364227 deg,
      approach rate: -0.481302 m/s,
      LOS rate: 0.068139 deg/s,
      cmd heading: 83.154398 deg,
      new cmd heading: 83.235050 deg.

2025-08-21T06:59:08.469Z,1755759548.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.452726 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:08.586Z,1755759548.586 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:08.586Z,1755759548.586 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:08.586Z,1755759548.586 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:08.836Z,1755759548.836 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:08.836Z,1755759548.836 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:08.836Z,1755759548.836 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:08.893Z,1755759548.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:08.908Z,1755759548.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 135.721420 m,
      bearing: 99.394279 deg,
      approach rate: -0.494287 m/s,
      LOS rate: 0.070328 deg/s,
      cmd heading: 83.235048 deg,
      new cmd heading: 83.325347 deg.

2025-08-21T06:59:08.909Z,1755759548.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.454302 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:09.088Z,1755759549.088 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:09.088Z,1755759549.088 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:09.088Z,1755759549.088 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:09.260Z,1755759549.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:09.262Z,1755759549.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 135.540161 m,
      bearing: 99.419991 deg,
      approach rate: -0.494057 m/s,
      LOS rate: 0.070175 deg/s,
      cmd heading: 83.325344 deg,
      new cmd heading: 83.402581 deg.

2025-08-21T06:59:09.264Z,1755759549.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455650 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:09.341Z,1755759549.341 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:09.341Z,1755759549.341 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:09.341Z,1755759549.341 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:09.592Z,1755759549.592 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:09.592Z,1755759549.592 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:09.592Z,1755759549.592 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:09.730Z,1755759549.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:09.733Z,1755759549.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 135.307693 m,
      bearing: 99.453331 deg,
      approach rate: -0.494258 m/s,
      LOS rate: 0.071009 deg/s,
      cmd heading: 83.402579 deg,
      new cmd heading: 83.502773 deg.

2025-08-21T06:59:09.734Z,1755759549.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.457398 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:09.844Z,1755759549.844 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:09.844Z,1755759549.844 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:09.844Z,1755759549.844 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:10.085Z,1755759550.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:10.096Z,1755759550.096 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:10.096Z,1755759550.096 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:10.096Z,1755759550.096 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:10.108Z,1755759550.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 135.132187 m,
      bearing: 99.478439 deg,
      approach rate: -0.494708 m/s,
      LOS rate: 0.070865 deg/s,
      cmd heading: 83.502771 deg,
      new cmd heading: 83.578193 deg.

2025-08-21T06:59:10.109Z,1755759550.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.458715 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:10.348Z,1755759550.348 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:10.349Z,1755759550.349 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:10.349Z,1755759550.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:10.485Z,1755759550.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:10.487Z,1755759550.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:10.490Z,1755759550.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 134.933502 m,
      bearing: 99.506944 deg,
      approach rate: -0.494107 m/s,
      LOS rate: 0.070993 deg/s,
      cmd heading: 83.578190 deg,
      new cmd heading: 83.663831 deg.

2025-08-21T06:59:10.491Z,1755759550.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.460209 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:10.600Z,1755759550.600 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:10.600Z,1755759550.600 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:10.600Z,1755759550.600 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:10.852Z,1755759550.852 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:10.852Z,1755759550.852 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:10.852Z,1755759550.852 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:10.920Z,1755759550.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:10.922Z,1755759550.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 134.736145 m,
      bearing: 99.537084 deg,
      approach rate: -0.456521 m/s,
      LOS rate: 0.069822 deg/s,
      cmd heading: 83.663827 deg,
      new cmd heading: 83.754381 deg.

2025-08-21T06:59:10.928Z,1755759550.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.461790 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:11.104Z,1755759551.104 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:11.104Z,1755759551.104 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:11.104Z,1755759551.104 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:11.283Z,1755759551.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:11.285Z,1755759551.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 134.549088 m,
      bearing: 99.565600 deg,
      approach rate: -0.515108 m/s,
      LOS rate: 0.078634 deg/s,
      cmd heading: 83.754382 deg,
      new cmd heading: 83.840048 deg.

2025-08-21T06:59:11.286Z,1755759551.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.463285 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:11.358Z,1755759551.358 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:11.358Z,1755759551.358 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:11.358Z,1755759551.358 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:11.614Z,1755759551.614 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:11.615Z,1755759551.615 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:11.615Z,1755759551.615 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:11.743Z,1755759551.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:11.746Z,1755759551.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 134.311157 m,
      bearing: 99.599602 deg,
      approach rate: -0.516666 m/s,
      LOS rate: 0.073965 deg/s,
      cmd heading: 83.840046 deg,
      new cmd heading: 83.942231 deg.

2025-08-21T06:59:11.747Z,1755759551.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.465068 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:11.864Z,1755759551.864 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:11.865Z,1755759551.865 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:11.865Z,1755759551.865 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:12.116Z,1755759552.116 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:12.116Z,1755759552.116 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:12.116Z,1755759552.116 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:12.165Z,1755759552.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:12.173Z,1755759552.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 134.110825 m,
      bearing: 99.628134 deg,
      approach rate: -0.475468 m/s,
      LOS rate: 0.067821 deg/s,
      cmd heading: 83.942233 deg,
      new cmd heading: 84.027959 deg.

2025-08-21T06:59:12.174Z,1755759552.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.466565 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:12.368Z,1755759552.368 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:12.368Z,1755759552.368 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:12.368Z,1755759552.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T06:59:12.556Z,1755759552.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:12.558Z,1755759552.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:12.565Z,1755759552.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 133.900162 m,
      bearing: 99.658041 deg,
      approach rate: -0.534582 m/s,
      LOS rate: 0.076012 deg/s,
      cmd heading: 84.027958 deg,
      new cmd heading: 84.117820 deg.

2025-08-21T06:59:12.566Z,1755759552.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468133 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:12.621Z,1755759552.621 [DAT](INFO): Reached modem response timeout
2025-08-21T06:59:12.621Z,1755759552.621 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:59:12.622Z,1755759552.622 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:12.872Z,1755759552.872 [DAT](INFO): Reached modem response timeout
2025-08-21T06:59:12.872Z,1755759552.872 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:59:12.872Z,1755759552.872 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:12.971Z,1755759552.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:12.974Z,1755759552.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 133.671356 m,
      bearing: 99.691548 deg,
      approach rate: -0.554780 m/s,
      LOS rate: 0.081381 deg/s,
      cmd heading: 84.117823 deg,
      new cmd heading: 84.218514 deg.

2025-08-21T06:59:12.975Z,1755759552.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.469890 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:13.124Z,1755759553.124 [DAT](INFO): Reached modem response timeout
2025-08-21T06:59:13.124Z,1755759553.124 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:59:13.124Z,1755759553.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:13.353Z,1755759553.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:13.356Z,1755759553.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 133.469269 m,
      bearing: 99.721242 deg,
      approach rate: -0.528767 m/s,
      LOS rate: 0.077814 deg/s,
      cmd heading: 84.218514 deg,
      new cmd heading: 84.307732 deg.

2025-08-21T06:59:13.357Z,1755759553.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.471447 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:13.376Z,1755759553.376 [DAT](INFO): Reached modem response timeout
2025-08-21T06:59:13.376Z,1755759553.376 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:59:13.376Z,1755759553.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:13.628Z,1755759553.628 [DAT](INFO): Reached modem response timeout
2025-08-21T06:59:13.628Z,1755759553.628 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:59:13.628Z,1755759553.628 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:13.800Z,1755759553.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:13.802Z,1755759553.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 133.230484 m,
      bearing: 99.754134 deg,
      approach rate: -0.535090 m/s,
      LOS rate: 0.073839 deg/s,
      cmd heading: 84.307730 deg,
      new cmd heading: 84.406582 deg.

2025-08-21T06:59:13.803Z,1755759553.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.473173 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:13.881Z,1755759553.881 [DAT](INFO): Reached modem response timeout
2025-08-21T06:59:13.881Z,1755759553.881 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:59:13.881Z,1755759553.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:14.132Z,1755759554.132 [DAT](INFO): Reached modem response timeout
2025-08-21T06:59:14.132Z,1755759554.132 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:59:14.132Z,1755759554.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:14.172Z,1755759554.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:14.180Z,1755759554.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 133.040924 m,
      bearing: 99.780171 deg,
      approach rate: -0.526908 m/s,
      LOS rate: 0.072476 deg/s,
      cmd heading: 84.406583 deg,
      new cmd heading: 84.484805 deg.

2025-08-21T06:59:14.181Z,1755759554.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474538 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:14.385Z,1755759554.385 [DAT](INFO): Reached modem response timeout
2025-08-21T06:59:14.385Z,1755759554.385 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:59:14.385Z,1755759554.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:14.565Z,1755759554.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:14.568Z,1755759554.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:14.570Z,1755759554.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 132.819550 m,
      bearing: 99.810444 deg,
      approach rate: -0.542270 m/s,
      LOS rate: 0.074279 deg/s,
      cmd heading: 84.484802 deg,
      new cmd heading: 84.575773 deg.

2025-08-21T06:59:14.572Z,1755759554.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476126 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:14.637Z,1755759554.637 [DAT](INFO): Reached modem response timeout
2025-08-21T06:59:14.638Z,1755759554.638 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:59:14.638Z,1755759554.638 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:14.888Z,1755759554.888 [DAT](INFO): Reached modem response timeout
2025-08-21T06:59:14.888Z,1755759554.888 [DAT](DEBUG): Acoustic response timeout
2025-08-21T06:59:14.888Z,1755759554.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:14.992Z,1755759554.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:14.994Z,1755759554.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 132.608429 m,
      bearing: 99.840478 deg,
      approach rate: -0.497856 m/s,
      LOS rate: 0.070938 deg/s,
      cmd heading: 84.575774 deg,
      new cmd heading: 84.666019 deg.

2025-08-21T06:59:14.995Z,1755759554.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.477701 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:15.141Z,1755759555.141 [DAT](INFO): DAT read: Response Not Received

2025-08-21T06:59:15.141Z,1755759555.141 [DAT](INFO): response not received
2025-08-21T06:59:15.142Z,1755759555.142 [DAT](INFO): DAT read: user:2006>

2025-08-21T06:59:15.143Z,1755759555.143 [DAT](INFO): DAT read: Tx time:06:59:14.3720

2025-08-21T06:59:15.144Z,1755759555.144 [DAT](INFO): Ping request sent.
2025-08-21T06:59:15.144Z,1755759555.144 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:15.144Z,1755759555.144 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:15.145Z,1755759555.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001094
2025-08-21T06:59:15.392Z,1755759555.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248523
2025-08-21T06:59:15.434Z,1755759555.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:15.437Z,1755759555.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 132.387604 m,
      bearing: 99.872001 deg,
      approach rate: -0.498767 m/s,
      LOS rate: 0.071320 deg/s,
      cmd heading: 84.666021 deg,
      new cmd heading: 84.760749 deg.

2025-08-21T06:59:15.438Z,1755759555.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.479354 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:15.647Z,1755759555.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503495
2025-08-21T06:59:15.822Z,1755759555.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:15.840Z,1755759555.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 132.189453 m,
      bearing: 99.898621 deg,
      approach rate: -0.511529 m/s,
      LOS rate: 0.068823 deg/s,
      cmd heading: 84.760749 deg,
      new cmd heading: 84.840728 deg.

2025-08-21T06:59:15.841Z,1755759555.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.480750 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:15.898Z,1755759555.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753530
2025-08-21T06:59:16.149Z,1755759556.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005252
2025-08-21T06:59:16.222Z,1755759556.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:16.225Z,1755759556.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 131.983612 m,
      bearing: 99.926225 deg,
      approach rate: -0.513387 m/s,
      LOS rate: 0.068953 deg/s,
      cmd heading: 84.840730 deg,
      new cmd heading: 84.923669 deg.

2025-08-21T06:59:16.226Z,1755759556.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.482198 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:16.403Z,1755759556.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259177
2025-08-21T06:59:16.615Z,1755759556.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:16.617Z,1755759556.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:16.620Z,1755759556.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 131.781708 m,
      bearing: 99.953250 deg,
      approach rate: -0.512004 m/s,
      LOS rate: 0.068638 deg/s,
      cmd heading: 84.923669 deg,
      new cmd heading: 85.004870 deg.

2025-08-21T06:59:16.621Z,1755759556.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.483615 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:16.652Z,1755759556.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508500
2025-08-21T06:59:16.904Z,1755759556.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760538
2025-08-21T06:59:17.064Z,1755759557.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:17.067Z,1755759557.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 131.572861 m,
      bearing: 99.981683 deg,
      approach rate: -0.473316 m/s,
      LOS rate: 0.064542 deg/s,
      cmd heading: 85.004867 deg,
      new cmd heading: 85.090302 deg.

2025-08-21T06:59:17.072Z,1755759557.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.485106 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:17.157Z,1755759557.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013097
2025-08-21T06:59:17.408Z,1755759557.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264616
2025-08-21T06:59:17.417Z,1755759557.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:17.420Z,1755759557.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 131.392014 m,
      bearing: 100.006236 deg,
      approach rate: -0.503935 m/s,
      LOS rate: 0.068510 deg/s,
      cmd heading: 85.090305 deg,
      new cmd heading: 85.164064 deg.

2025-08-21T06:59:17.421Z,1755759557.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.486393 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:17.661Z,1755759557.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517747
2025-08-21T06:59:17.841Z,1755759557.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:17.844Z,1755759557.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 131.186081 m,
      bearing: 100.033744 deg,
      approach rate: -0.485689 m/s,
      LOS rate: 0.064980 deg/s,
      cmd heading: 85.164065 deg,
      new cmd heading: 85.246719 deg.

2025-08-21T06:59:17.845Z,1755759557.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.487836 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:17.913Z,1755759557.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768808
2025-08-21T06:59:18.165Z,1755759558.165 [DAT](INFO): DAT read: Rx Time:06:59:16.9554

2025-08-21T06:59:18.166Z,1755759558.166 [DAT](INFO): Rx dataTimestamp_ set to:1755759558.165070
2025-08-21T06:59:18.166Z,1755759558.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022413
2025-08-21T06:59:18.357Z,1755759558.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.71 m.
2025-08-21T06:59:18.367Z,1755759558.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.710297 m,
      nav range: 130.948990 m,
      bearing: 100.065527 deg,
      approach rate: -0.459012 m/s,
      LOS rate: 0.061644 deg/s,
      cmd heading: 85.246717 deg,
      new cmd heading: 85.342239 deg.

2025-08-21T06:59:18.368Z,1755759558.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489503 target range: 141.710297 and range: 142.50 m.
2025-08-21T06:59:18.416Z,1755759558.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272736
2025-08-21T06:59:18.681Z,1755759558.681 [DAT](INFO): DAT read: 06:59:16.9554 LVL= 25584, 32753, 32242, 32755, AGC= 69, IDX= 360,-0.12, 0.598,-1.231, 0.188, 0.323, PHS= 0.378,-1.509,-0.179, RAW= 133.3,  15.4, CAL= 132.3,  16.5, ROT=  17.7, -16.5

2025-08-21T06:59:18.682Z,1755759558.682 [DAT](INFO): got valid direction response:
 06:59:16.9554 LVL= 25584, 32753, 32242, 32755, AGC= 69, IDX= 360,-0.12, 0.598,-1.231, 0.188, 0.323, PHS= 0.378,-1.509,-0.179, RAW= 133.3,  15.4, CAL= 132.3,  16.5, ROT=  17.7, -16.5

2025-08-21T06:59:18.683Z,1755759558.683 [DAT](INFO): DAT read: Bearing 238.6,  11.6 (Local)

2025-08-21T06:59:18.683Z,1755759558.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.6,  11.6 (Local)

2025-08-21T06:59:18.685Z,1755759558.685 [DAT](INFO): DAT read: Range 11 to 50 : 134.4 m  (Round-trip  179.2 ms) speed  0.3 m/s

2025-08-21T06:59:18.686Z,1755759558.686 [DAT](INFO): DAT read: user:2007>

2025-08-21T06:59:18.686Z,1755759558.686 [DAT](INFO): DAT read: Tx time:06:59:18.0720

2025-08-21T06:59:18.687Z,1755759558.687 [DAT](INFO): Ping request sent.
2025-08-21T06:59:18.687Z,1755759558.687 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:18.687Z,1755759558.687 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:18.688Z,1755759558.688 [DAT](INFO): direction in FSK: [0.913431,0.291513,0.284015]
2025-08-21T06:59:18.688Z,1755759558.688 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:18.689Z,1755759558.689 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:18.692Z,1755759558.692 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:18.692Z,1755759558.692 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:18.902Z,1755759558.902 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3278,-32768,V
2025-08-21T06:59:18.952Z,1755759558.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 134.399994 m,
      deltaT: 16.151241 s,
      deltaX: -8.100006 m,
      approachRate: -0.501510 m/s,
      rangeRepo size: 4

2025-08-21T06:59:18.954Z,1755759558.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.668961 m,
      bearing: 100.095111 deg,
      lat: 36.779339 deg,
      lon: -121.859446 deg,
      deltaT: 16.151241 s,
      deltaX: -8.041336 m,
      approachRate: -0.497877 m/s,
      posRepo size: 4

2025-08-21T06:59:18.959Z,1755759558.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.67 m.
2025-08-21T06:59:18.962Z,1755759558.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.668961 m,
      nav range: 130.816727 m,
      bearing: 100.134496 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.061644 deg/s,
      cmd heading: 85.342237 deg,
      new cmd heading: 85.451359 deg.

2025-08-21T06:59:18.963Z,1755759558.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491408 target range: 133.668961 and range: 134.40 m.
2025-08-21T06:59:19.409Z,1755759559.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:19.412Z,1755759559.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.67 m.
2025-08-21T06:59:19.414Z,1755759559.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.668961 m,
      nav range: 130.584686 m,
      bearing: 100.165578 deg,
      approach rate: -0.499880 m/s,
      LOS rate: 0.067078 deg/s,
      cmd heading: 85.451356 deg,
      new cmd heading: 85.544767 deg.

2025-08-21T06:59:19.415Z,1755759559.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.493038 target range: 133.668961 and range: 134.40 m.
2025-08-21T06:59:19.424Z,1755759559.424 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:19.424Z,1755759559.424 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:19.424Z,1755759559.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:19.676Z,1755759559.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989452
2025-08-21T06:59:19.874Z,1755759559.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.67 m.
2025-08-21T06:59:19.881Z,1755759559.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.668961 m,
      nav range: 130.374817 m,
      bearing: 100.193195 deg,
      approach rate: -0.453912 m/s,
      LOS rate: 0.059826 deg/s,
      cmd heading: 85.544766 deg,
      new cmd heading: 85.627748 deg.

2025-08-21T06:59:19.882Z,1755759559.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494486 target range: 133.668961 and range: 134.40 m.
2025-08-21T06:59:19.928Z,1755759559.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241565
2025-08-21T06:59:20.180Z,1755759560.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493636
2025-08-21T06:59:20.221Z,1755759560.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.67 m.
2025-08-21T06:59:20.228Z,1755759560.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.668961 m,
      nav range: 130.201111 m,
      bearing: 100.216131 deg,
      approach rate: -0.500277 m/s,
      LOS rate: 0.066145 deg/s,
      cmd heading: 85.627746 deg,
      new cmd heading: 85.696646 deg.

2025-08-21T06:59:20.229Z,1755759560.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.495689 target range: 133.668961 and range: 134.40 m.
2025-08-21T06:59:20.432Z,1755759560.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745402
2025-08-21T06:59:20.615Z,1755759560.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.67 m.
2025-08-21T06:59:20.618Z,1755759560.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.668961 m,
      nav range: 130.010544 m,
      bearing: 100.241367 deg,
      approach rate: -0.484296 m/s,
      LOS rate: 0.064227 deg/s,
      cmd heading: 85.696649 deg,
      new cmd heading: 85.772467 deg.

2025-08-21T06:59:20.619Z,1755759560.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497012 target range: 133.668961 and range: 134.40 m.
2025-08-21T06:59:20.686Z,1755759560.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999313
2025-08-21T06:59:20.936Z,1755759560.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249496
2025-08-21T06:59:21.054Z,1755759561.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.67 m.
2025-08-21T06:59:21.057Z,1755759561.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.668961 m,
      nav range: 129.799911 m,
      bearing: 100.270826 deg,
      approach rate: -0.479662 m/s,
      LOS rate: 0.067195 deg/s,
      cmd heading: 85.772464 deg,
      new cmd heading: 85.860985 deg.

2025-08-21T06:59:21.058Z,1755759561.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498557 target range: 133.668961 and range: 134.40 m.
2025-08-21T06:59:21.188Z,1755759561.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501436
2025-08-21T06:59:21.414Z,1755759561.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:21.416Z,1755759561.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.67 m.
2025-08-21T06:59:21.418Z,1755759561.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.668961 m,
      nav range: 129.626083 m,
      bearing: 100.295130 deg,
      approach rate: -0.480281 m/s,
      LOS rate: 0.067240 deg/s,
      cmd heading: 85.860983 deg,
      new cmd heading: 85.933991 deg.

2025-08-21T06:59:21.420Z,1755759561.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499831 target range: 133.668961 and range: 134.40 m.
2025-08-21T06:59:21.449Z,1755759561.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762291
2025-08-21T06:59:21.700Z,1755759561.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013459
2025-08-21T06:59:21.887Z,1755759561.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.67 m.
2025-08-21T06:59:21.890Z,1755759561.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.668961 m,
      nav range: 129.387741 m,
      bearing: 100.327729 deg,
      approach rate: -0.505877 m/s,
      LOS rate: 0.069320 deg/s,
      cmd heading: 85.933991 deg,
      new cmd heading: 86.031970 deg.

2025-08-21T06:59:21.891Z,1755759561.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.501541 target range: 133.668961 and range: 134.40 m.
2025-08-21T06:59:21.953Z,1755759561.953 [DAT](INFO): DAT read: Rx Time:06:59:20.6530

2025-08-21T06:59:21.954Z,1755759561.954 [DAT](INFO): Rx dataTimestamp_ set to:1755759561.953258
2025-08-21T06:59:21.954Z,1755759561.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267662
2025-08-21T06:59:22.204Z,1755759562.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517497
2025-08-21T06:59:22.237Z,1755759562.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.67 m.
2025-08-21T06:59:22.244Z,1755759562.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.668961 m,
      nav range: 129.214737 m,
      bearing: 100.351492 deg,
      approach rate: -0.493829 m/s,
      LOS rate: 0.067920 deg/s,
      cmd heading: 86.031970 deg,
      new cmd heading: 86.103354 deg.

2025-08-21T06:59:22.245Z,1755759562.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.502787 target range: 133.668961 and range: 134.40 m.
2025-08-21T06:59:22.462Z,1755759562.462 [DAT](INFO): DAT read: 06:59:20.6530 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.34, 0.799,-0.989, 0.409, 0.506, PHS= 0.395,-1.450,-0.141, RAW= 133.6,  14.4, CAL= 132.7,  15.5, ROT=  17.3, -15.5

2025-08-21T06:59:22.463Z,1755759562.463 [DAT](INFO): got valid direction response:
 06:59:20.6530 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 415, 0.34, 0.799,-0.989, 0.409, 0.506, PHS= 0.395,-1.450,-0.141, RAW= 133.6,  14.4, CAL= 132.7,  15.5, ROT=  17.3, -15.5

2025-08-21T06:59:22.464Z,1755759562.464 [DAT](INFO): DAT read: Bearing 238.2,  10.4 (Local)

2025-08-21T06:59:22.464Z,1755759562.464 [DAT](INFO): Local bearing/azimuth received:
 Bearing 238.2,  10.4 (Local)

2025-08-21T06:59:22.466Z,1755759562.466 [DAT](INFO): DAT read: Range 11 to 50 : 132.6 m  (Round-trip  176.8 ms) speed  0.0 m/s

2025-08-21T06:59:22.467Z,1755759562.467 [DAT](INFO): DAT read: user:2008>

2025-08-21T06:59:22.467Z,1755759562.467 [DAT](INFO): DAT read: Tx time:06:59:21.7720

2025-08-21T06:59:22.468Z,1755759562.468 [DAT](INFO): Ping request sent.
2025-08-21T06:59:22.468Z,1755759562.468 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:22.468Z,1755759562.468 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:22.469Z,1755759562.469 [DAT](INFO): direction in FSK: [0.920037,0.286559,0.267238]
2025-08-21T06:59:22.469Z,1755759562.469 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:22.470Z,1755759562.470 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:22.498Z,1755759562.498 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:22.499Z,1755759562.499 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:22.644Z,1755759562.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 132.600006 m,
      deltaT: 3.786254 s,
      deltaX: -1.799988 m,
      approachRate: -0.475401 m/s,
      rangeRepo size: 4

2025-08-21T06:59:22.646Z,1755759562.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 131.880310 m,
      bearing: 100.051553 deg,
      lat: 36.779339 deg,
      lon: -121.859446 deg,
      deltaT: 3.786254 s,
      deltaX: -1.788651 m,
      approachRate: -0.472406 m/s,
      posRepo size: 4

2025-08-21T06:59:22.647Z,1755759562.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m.
2025-08-21T06:59:22.653Z,1755759562.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.880310 m,
      nav range: 129.031967 m,
      bearing: 100.377619 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.067920 deg/s,
      cmd heading: 86.103352 deg,
      new cmd heading: 86.185255 deg.

2025-08-21T06:59:22.654Z,1755759562.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.504216 target range: 131.880310 and range: 132.60 m.
2025-08-21T06:59:23.072Z,1755759563.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m.
2025-08-21T06:59:23.074Z,1755759563.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.880310 m,
      nav range: 128.811951 m,
      bearing: 100.406929 deg,
      approach rate: -0.509185 m/s,
      LOS rate: 0.067949 deg/s,
      cmd heading: 86.185253 deg,
      new cmd heading: 86.273335 deg.

2025-08-21T06:59:23.075Z,1755759563.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.505754 target range: 131.880310 and range: 132.60 m.
2025-08-21T06:59:23.426Z,1755759563.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:23.441Z,1755759563.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m.
2025-08-21T06:59:23.447Z,1755759563.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.880310 m,
      nav range: 128.630249 m,
      bearing: 100.431025 deg,
      approach rate: -0.492134 m/s,
      LOS rate: 0.065353 deg/s,
      cmd heading: 86.273335 deg,
      new cmd heading: 86.345723 deg.

2025-08-21T06:59:23.448Z,1755759563.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.507017 target range: 131.880310 and range: 132.60 m.
2025-08-21T06:59:23.465Z,1755759563.465 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:23.465Z,1755759563.465 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:23.467Z,1755759563.467 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:23.716Z,1755759563.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248334
2025-08-21T06:59:23.884Z,1755759563.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m.
2025-08-21T06:59:23.887Z,1755759563.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.880310 m,
      nav range: 128.401413 m,
      bearing: 100.461472 deg,
      approach rate: -0.515623 m/s,
      LOS rate: 0.068727 deg/s,
      cmd heading: 86.345722 deg,
      new cmd heading: 86.437226 deg.

2025-08-21T06:59:23.888Z,1755759563.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.508614 target range: 131.880310 and range: 132.60 m.
2025-08-21T06:59:23.969Z,1755759563.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501316
2025-08-21T06:59:24.220Z,1755759564.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752312
2025-08-21T06:59:24.232Z,1755759564.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:59:24.300Z,1755759564.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m.
2025-08-21T06:59:24.302Z,1755759564.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.880310 m,
      nav range: 128.188171 m,
      bearing: 100.491060 deg,
      approach rate: -0.513288 m/s,
      LOS rate: 0.071338 deg/s,
      cmd heading: 86.437226 deg,
      new cmd heading: 86.526137 deg.

2025-08-21T06:59:24.304Z,1755759564.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.510166 target range: 131.880310 and range: 132.60 m.
2025-08-21T06:59:24.472Z,1755759564.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004649
2025-08-21T06:59:24.677Z,1755759564.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m.
2025-08-21T06:59:24.685Z,1755759564.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.880310 m,
      nav range: 128.008942 m,
      bearing: 100.515695 deg,
      approach rate: -0.475085 m/s,
      LOS rate: 0.065392 deg/s,
      cmd heading: 86.526134 deg,
      new cmd heading: 86.600143 deg.

2025-08-21T06:59:24.685Z,1755759564.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511458 target range: 131.880310 and range: 132.60 m.
2025-08-21T06:59:24.724Z,1755759564.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256566
2025-08-21T06:59:24.976Z,1755759564.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508411
2025-08-21T06:59:25.084Z,1755759565.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m.
2025-08-21T06:59:25.086Z,1755759565.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.880310 m,
      nav range: 127.791740 m,
      bearing: 100.545357 deg,
      approach rate: -0.533964 m/s,
      LOS rate: 0.073046 deg/s,
      cmd heading: 86.600146 deg,
      new cmd heading: 86.689285 deg.

2025-08-21T06:59:25.088Z,1755759565.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.513013 target range: 131.880310 and range: 132.60 m.
2025-08-21T06:59:25.228Z,1755759565.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760492
2025-08-21T06:59:25.236Z,1755759565.236 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:59:25.481Z,1755759565.481 [DAT](INFO): DAT read: Rx Time:06:59:24.3504

2025-08-21T06:59:25.481Z,1755759565.481 [DAT](INFO): Rx dataTimestamp_ set to:1755759565.481172
2025-08-21T06:59:25.482Z,1755759565.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014187
2025-08-21T06:59:25.557Z,1755759565.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:25.559Z,1755759565.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m.
2025-08-21T06:59:25.561Z,1755759565.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.880310 m,
      nav range: 127.554947 m,
      bearing: 100.577400 deg,
      approach rate: -0.498664 m/s,
      LOS rate: 0.067603 deg/s,
      cmd heading: 86.689287 deg,
      new cmd heading: 86.785592 deg.

2025-08-21T06:59:25.562Z,1755759565.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.514694 target range: 131.880310 and range: 132.60 m.
2025-08-21T06:59:25.732Z,1755759565.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264361
2025-08-21T06:59:25.978Z,1755759565.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.88 m.
2025-08-21T06:59:25.981Z,1755759565.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 131.880310 m,
      nav range: 127.341583 m,
      bearing: 100.606703 deg,
      approach rate: -0.508806 m/s,
      LOS rate: 0.069996 deg/s,
      cmd heading: 86.785593 deg,
      new cmd heading: 86.873650 deg.

2025-08-21T06:59:25.982Z,1755759565.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.516231 target range: 131.880310 and range: 132.60 m.
2025-08-21T06:59:25.988Z,1755759565.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519795
2025-08-21T06:59:26.250Z,1755759566.250 [DAT](INFO): DAT read: 06:59:24.3504 LVL= 29024, 32753, 32754, 32755, AGC= 67, IDX= 421, 0.10, 1.568,-0.233, 1.179, 1.319, PHS= 0.351,-1.507,-0.184, RAW= 133.8,  16.0, CAL= 132.7,  17.0, ROT=  17.3, -17.0

2025-08-21T06:59:26.251Z,1755759566.251 [DAT](INFO): got valid direction response:
 06:59:24.3504 LVL= 29024, 32753, 32754, 32755, AGC= 67, IDX= 421, 0.10, 1.568,-0.233, 1.179, 1.319, PHS= 0.351,-1.507,-0.184, RAW= 133.8,  16.0, CAL= 132.7,  17.0, ROT=  17.3, -17.0

2025-08-21T06:59:26.252Z,1755759566.252 [DAT](INFO): DAT read: Bearing 240.5,  10.1 (Local)

2025-08-21T06:59:26.252Z,1755759566.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.5,  10.1 (Local)

2025-08-21T06:59:26.254Z,1755759566.254 [DAT](INFO): DAT read: Range 11 to 50 : 130.7 m  (Round-trip  174.3 ms) speed  0.4 m/s

2025-08-21T06:59:26.254Z,1755759566.254 [DAT](INFO): DAT read: user:2009>

2025-08-21T06:59:26.260Z,1755759566.260 [DAT](INFO): DAT read: Tx time:06:59:25.4720

2025-08-21T06:59:26.261Z,1755759566.261 [DAT](INFO): Ping request sent.
2025-08-21T06:59:26.262Z,1755759566.262 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:26.262Z,1755759566.262 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:26.263Z,1755759566.263 [DAT](INFO): direction in FSK: [0.913042,0.284381,0.292372]
2025-08-21T06:59:26.281Z,1755759566.281 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:26.281Z,1755759566.281 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:26.285Z,1755759566.285 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:26.285Z,1755759566.285 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:26.551Z,1755759566.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.699997 m,
      deltaT: 3.785512 s,
      deltaX: -1.900009 m,
      approachRate: -0.501916 m/s,
      rangeRepo size: 4

2025-08-21T06:59:26.557Z,1755759566.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 129.988678 m,
      bearing: 100.835175 deg,
      lat: 36.779338 deg,
      lon: -121.859440 deg,
      deltaT: 3.785512 s,
      deltaX: -1.891632 m,
      approachRate: -0.499703 m/s,
      posRepo size: 4

2025-08-21T06:59:26.558Z,1755759566.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-08-21T06:59:26.581Z,1755759566.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.988678 m,
      nav range: 127.567223 m,
      bearing: 100.633805 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.069996 deg/s,
      cmd heading: 86.873647 deg,
      new cmd heading: 86.993767 deg.

2025-08-21T06:59:26.582Z,1755759566.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.518328 target range: 129.988678 and range: 130.70 m.
2025-08-21T06:59:26.995Z,1755759566.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-08-21T06:59:27.002Z,1755759567.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.988678 m,
      nav range: 127.332611 m,
      bearing: 100.665961 deg,
      approach rate: -0.528604 m/s,
      LOS rate: 0.072584 deg/s,
      cmd heading: 86.993770 deg,
      new cmd heading: 87.090415 deg.

2025-08-21T06:59:27.003Z,1755759567.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.520015 target range: 129.988678 and range: 130.70 m.
2025-08-21T06:59:27.385Z,1755759567.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-08-21T06:59:27.392Z,1755759567.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.988678 m,
      nav range: 127.132507 m,
      bearing: 100.693297 deg,
      approach rate: -0.512043 m/s,
      LOS rate: 0.070060 deg/s,
      cmd heading: 87.090417 deg,
      new cmd heading: 87.172555 deg.

2025-08-21T06:59:27.393Z,1755759567.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.521448 target range: 129.988678 and range: 130.70 m.
2025-08-21T06:59:27.762Z,1755759567.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:27.764Z,1755759567.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-08-21T06:59:27.766Z,1755759567.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.988678 m,
      nav range: 126.935181 m,
      bearing: 100.720144 deg,
      approach rate: -0.520244 m/s,
      LOS rate: 0.070892 deg/s,
      cmd heading: 87.172557 deg,
      new cmd heading: 87.253224 deg.

2025-08-21T06:59:27.768Z,1755759567.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.522856 target range: 129.988678 and range: 130.70 m.
2025-08-21T06:59:28.005Z,1755759568.005 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:28.005Z,1755759568.005 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:28.005Z,1755759568.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:28.207Z,1755759568.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-08-21T06:59:28.210Z,1755759568.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.988678 m,
      nav range: 126.717422 m,
      bearing: 100.749830 deg,
      approach rate: -0.491712 m/s,
      LOS rate: 0.067147 deg/s,
      cmd heading: 87.253221 deg,
      new cmd heading: 87.342431 deg.

2025-08-21T06:59:28.211Z,1755759568.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.524413 target range: 129.988678 and range: 130.70 m.
2025-08-21T06:59:28.256Z,1755759568.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995296
2025-08-21T06:59:28.508Z,1755759568.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247401
2025-08-21T06:59:28.585Z,1755759568.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-08-21T06:59:28.592Z,1755759568.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.988678 m,
      nav range: 126.535072 m,
      bearing: 100.774405 deg,
      approach rate: -0.482313 m/s,
      LOS rate: 0.065094 deg/s,
      cmd heading: 87.342431 deg,
      new cmd heading: 87.416262 deg.

2025-08-21T06:59:28.593Z,1755759568.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.525702 target range: 129.988678 and range: 130.70 m.
2025-08-21T06:59:28.760Z,1755759568.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499191
2025-08-21T06:59:29.012Z,1755759569.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751216
2025-08-21T06:59:29.033Z,1755759569.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-08-21T06:59:29.036Z,1755759569.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.988678 m,
      nav range: 126.304359 m,
      bearing: 100.805649 deg,
      approach rate: -0.514646 m/s,
      LOS rate: 0.069822 deg/s,
      cmd heading: 87.416265 deg,
      new cmd heading: 87.510167 deg.

2025-08-21T06:59:29.037Z,1755759569.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.527341 target range: 129.988678 and range: 130.70 m.
2025-08-21T06:59:29.266Z,1755759569.266 [DAT](INFO): DAT read: Rx Time:06:59:28.0478

2025-08-21T06:59:29.266Z,1755759569.266 [DAT](INFO): Rx dataTimestamp_ set to:1755759569.266040
2025-08-21T06:59:29.267Z,1755759569.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006227
2025-08-21T06:59:29.381Z,1755759569.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.99 m.
2025-08-21T06:59:29.383Z,1755759569.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 129.988678 m,
      nav range: 126.128868 m,
      bearing: 100.829341 deg,
      approach rate: -0.505085 m/s,
      LOS rate: 0.068286 deg/s,
      cmd heading: 87.510166 deg,
      new cmd heading: 87.581343 deg.

2025-08-21T06:59:29.384Z,1755759569.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.528583 target range: 129.988678 and range: 130.70 m.
2025-08-21T06:59:29.516Z,1755759569.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255221
2025-08-21T06:59:29.777Z,1755759569.777 [DAT](INFO): DAT read: 06:59:28.0478 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 410,-0.07,-2.484, 2.073,-2.831,-2.759, PHS= 0.377,-1.406,-0.116, RAW= 134.5,  14.2, CAL= 133.6,  15.3, ROT=  16.4, -15.3

2025-08-21T06:59:29.779Z,1755759569.779 [DAT](INFO): got valid direction response:
 06:59:28.0478 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 410,-0.07,-2.484, 2.073,-2.831,-2.759, PHS= 0.377,-1.406,-0.116, RAW= 134.5,  14.2, CAL= 133.6,  15.3, ROT=  16.4, -15.3

2025-08-21T06:59:29.780Z,1755759569.780 [DAT](INFO): DAT read: Bearing 239.7,   9.3 (Local)

2025-08-21T06:59:29.780Z,1755759569.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 239.7,   9.3 (Local)

2025-08-21T06:59:29.782Z,1755759569.782 [DAT](INFO): DAT read: Range 11 to 50 : 128.7 m  (Round-trip  171.6 ms) speed  0.8 m/s

2025-08-21T06:59:29.783Z,1755759569.783 [DAT](INFO): DAT read: user:2010>

2025-08-21T06:59:29.788Z,1755759569.788 [DAT](INFO): DAT read: Tx time:06:59:29.1720

2025-08-21T06:59:29.788Z,1755759569.788 [DAT](INFO): Ping request sent.
2025-08-21T06:59:29.788Z,1755759569.788 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:29.788Z,1755759569.788 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:29.789Z,1755759569.789 [DAT](INFO): direction in FSK: [0.925313,0.272335,0.263873]
2025-08-21T06:59:29.790Z,1755759569.790 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:29.790Z,1755759569.790 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:29.798Z,1755759569.798 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:29.798Z,1755759569.798 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:30.085Z,1755759570.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.699997 m,
      deltaT: 3.526575 s,
      deltaX: -2.000000 m,
      approachRate: -0.567123 m/s,
      rangeRepo size: 4

2025-08-21T06:59:30.088Z,1755759570.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 128.001831 m,
      bearing: 101.012959 deg,
      lat: 36.779335 deg,
      lon: -121.859438 deg,
      deltaT: 3.526575 s,
      deltaX: -1.986847 m,
      approachRate: -0.563393 m/s,
      posRepo size: 4

2025-08-21T06:59:30.088Z,1755759570.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-21T06:59:30.091Z,1755759570.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.001831 m,
      nav range: 126.010765 m,
      bearing: 101.054916 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.068286 deg/s,
      cmd heading: 87.581344 deg,
      new cmd heading: 87.725578 deg.

2025-08-21T06:59:30.092Z,1755759570.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.531100 target range: 128.001831 and range: 128.70 m.
2025-08-21T06:59:30.434Z,1755759570.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:30.440Z,1755759570.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-21T06:59:30.442Z,1755759570.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.001831 m,
      nav range: 125.834862 m,
      bearing: 101.078222 deg,
      approach rate: -0.495451 m/s,
      LOS rate: 0.065734 deg/s,
      cmd heading: 87.725577 deg,
      new cmd heading: 87.795591 deg.

2025-08-21T06:59:30.448Z,1755759570.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.532322 target range: 128.001831 and range: 128.70 m.
2025-08-21T06:59:30.525Z,1755759570.525 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:30.525Z,1755759570.525 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:30.525Z,1755759570.525 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:30.776Z,1755759570.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988319
2025-08-21T06:59:30.827Z,1755759570.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-21T06:59:30.829Z,1755759570.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.001831 m,
      nav range: 125.632019 m,
      bearing: 101.104983 deg,
      approach rate: -0.524457 m/s,
      LOS rate: 0.069305 deg/s,
      cmd heading: 87.795593 deg,
      new cmd heading: 87.876008 deg.

2025-08-21T06:59:30.830Z,1755759570.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533726 target range: 128.001831 and range: 128.70 m.
2025-08-21T06:59:31.029Z,1755759571.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240938
2025-08-21T06:59:31.260Z,1755759571.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-21T06:59:31.263Z,1755759571.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.001831 m,
      nav range: 125.414719 m,
      bearing: 101.132001 deg,
      approach rate: -0.502127 m/s,
      LOS rate: 0.062539 deg/s,
      cmd heading: 87.876005 deg,
      new cmd heading: 87.957198 deg.

2025-08-21T06:59:31.264Z,1755759571.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535143 target range: 128.001831 and range: 128.70 m.
2025-08-21T06:59:31.280Z,1755759571.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492311
2025-08-21T06:59:31.532Z,1755759571.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744265
2025-08-21T06:59:31.617Z,1755759571.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-21T06:59:31.620Z,1755759571.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.001831 m,
      nav range: 125.243210 m,
      bearing: 101.153247 deg,
      approach rate: -0.479848 m/s,
      LOS rate: 0.059524 deg/s,
      cmd heading: 87.957195 deg,
      new cmd heading: 88.021021 deg.

2025-08-21T06:59:31.620Z,1755759571.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536257 target range: 128.001831 and range: 128.70 m.
2025-08-21T06:59:31.784Z,1755759571.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996156
2025-08-21T06:59:32.037Z,1755759572.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248551
2025-08-21T06:59:32.049Z,1755759572.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-21T06:59:32.052Z,1755759572.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.001831 m,
      nav range: 125.018860 m,
      bearing: 101.180980 deg,
      approach rate: -0.519278 m/s,
      LOS rate: 0.064306 deg/s,
      cmd heading: 88.021023 deg,
      new cmd heading: 88.104372 deg.

2025-08-21T06:59:32.053Z,1755759572.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537711 target range: 128.001831 and range: 128.70 m.
2025-08-21T06:59:32.288Z,1755759572.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500240
2025-08-21T06:59:32.417Z,1755759572.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-21T06:59:32.421Z,1755759572.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.001831 m,
      nav range: 124.834251 m,
      bearing: 101.203701 deg,
      approach rate: -0.501042 m/s,
      LOS rate: 0.061757 deg/s,
      cmd heading: 88.104372 deg,
      new cmd heading: 88.172635 deg.

2025-08-21T06:59:32.422Z,1755759572.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538903 target range: 128.001831 and range: 128.70 m.
2025-08-21T06:59:32.540Z,1755759572.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752105
2025-08-21T06:59:32.792Z,1755759572.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004164
2025-08-21T06:59:32.861Z,1755759572.861 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:32.863Z,1755759572.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-21T06:59:32.865Z,1755759572.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.001831 m,
      nav range: 124.611366 m,
      bearing: 101.231081 deg,
      approach rate: -0.500504 m/s,
      LOS rate: 0.061593 deg/s,
      cmd heading: 88.172633 deg,
      new cmd heading: 88.254919 deg.

2025-08-21T06:59:32.866Z,1755759572.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540339 target range: 128.001831 and range: 128.70 m.
2025-08-21T06:59:33.044Z,1755759573.044 [DAT](INFO): DAT read: Rx Time:06:59:31.7454

2025-08-21T06:59:33.045Z,1755759573.045 [DAT](INFO): Rx dataTimestamp_ set to:1755759573.044452
2025-08-21T06:59:33.045Z,1755759573.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257262
2025-08-21T06:59:33.294Z,1755759573.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-21T06:59:33.296Z,1755759573.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508301
2025-08-21T06:59:33.298Z,1755759573.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.001831 m,
      nav range: 124.393501 m,
      bearing: 101.256854 deg,
      approach rate: -0.505381 m/s,
      LOS rate: 0.059892 deg/s,
      cmd heading: 88.254916 deg,
      new cmd heading: 88.332373 deg.

2025-08-21T06:59:33.299Z,1755759573.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541691 target range: 128.001831 and range: 128.70 m.
2025-08-21T06:59:33.554Z,1755759573.554 [DAT](INFO): DAT read: 06:59:31.7454 LVL= 30288, 32753, 32418, 32755, AGC= 68, IDX= 417,-0.22,-1.772, 2.692,-2.152,-2.041, PHS= 0.371,-1.506,-0.155, RAW= 134.2,  15.2, CAL= 133.2,  16.3, ROT=  16.8, -16.3

2025-08-21T06:59:33.555Z,1755759573.555 [DAT](INFO): got valid direction response:
 06:59:31.7454 LVL= 30288, 32753, 32418, 32755, AGC= 68, IDX= 417,-0.22,-1.772, 2.692,-2.152,-2.041, PHS= 0.371,-1.506,-0.155, RAW= 134.2,  15.2, CAL= 133.2,  16.3, ROT=  16.8, -16.3

2025-08-21T06:59:33.556Z,1755759573.556 [DAT](INFO): DAT read: Bearing 242.5,  10.0 (Local)

2025-08-21T06:59:33.556Z,1755759573.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing 242.5,  10.0 (Local)

2025-08-21T06:59:33.558Z,1755759573.558 [DAT](INFO): DAT read: Range 11 to 50 : 126.9 m  (Round-trip  169.2 ms) speed  0.4 m/s

2025-08-21T06:59:33.559Z,1755759573.559 [DAT](INFO): DAT read: user:2011>

2025-08-21T06:59:33.560Z,1755759573.560 [DAT](INFO): DAT read: Tx time:06:59:32.8720

2025-08-21T06:59:33.560Z,1755759573.560 [DAT](INFO): Ping request sent.
2025-08-21T06:59:33.560Z,1755759573.560 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:33.560Z,1755759573.560 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:33.561Z,1755759573.561 [DAT](INFO): direction in FSK: [0.918840,0.277414,0.280667]
2025-08-21T06:59:33.561Z,1755759573.561 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:33.562Z,1755759573.562 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:33.566Z,1755759573.566 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:33.566Z,1755759573.566 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:33.737Z,1755759573.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 126.900002 m,
      deltaT: 3.779891 s,
      deltaX: -1.799995 m,
      approachRate: -0.476203 m/s,
      rangeRepo size: 4

2025-08-21T06:59:33.770Z,1755759573.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 126.211571 m,
      bearing: 102.281080 deg,
      lat: 36.779335 deg,
      lon: -121.859438 deg,
      deltaT: 3.779891 s,
      deltaX: -1.790260 m,
      approachRate: -0.473628 m/s,
      posRepo size: 4

2025-08-21T06:59:33.781Z,1755759573.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.21 m.
2025-08-21T06:59:33.792Z,1755759573.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.211571 m,
      nav range: 124.181435 m,
      bearing: 101.281880 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.059892 deg/s,
      cmd heading: 88.332371 deg,
      new cmd heading: 88.411970 deg.

2025-08-21T06:59:33.793Z,1755759573.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543080 target range: 126.211571 and range: 126.90 m.
2025-08-21T06:59:34.126Z,1755759574.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.21 m.
2025-08-21T06:59:34.136Z,1755759574.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.211571 m,
      nav range: 123.972084 m,
      bearing: 101.305473 deg,
      approach rate: -0.541457 m/s,
      LOS rate: 0.061123 deg/s,
      cmd heading: 88.411970 deg,
      new cmd heading: 88.482868 deg.

2025-08-21T06:59:34.137Z,1755759574.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544317 target range: 126.211571 and range: 126.90 m.
2025-08-21T06:59:34.521Z,1755759574.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.21 m.
2025-08-21T06:59:34.524Z,1755759574.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.211571 m,
      nav range: 123.760750 m,
      bearing: 101.329154 deg,
      approach rate: -0.531665 m/s,
      LOS rate: 0.059676 deg/s,
      cmd heading: 88.482867 deg,
      new cmd heading: 88.554030 deg.

2025-08-21T06:59:34.525Z,1755759574.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545559 target range: 126.211571 and range: 126.90 m.
2025-08-21T06:59:34.915Z,1755759574.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:34.918Z,1755759574.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.21 m.
2025-08-21T06:59:34.920Z,1755759574.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.211571 m,
      nav range: 123.554688 m,
      bearing: 101.352142 deg,
      approach rate: -0.519412 m/s,
      LOS rate: 0.058042 deg/s,
      cmd heading: 88.554031 deg,
      new cmd heading: 88.623110 deg.

2025-08-21T06:59:34.921Z,1755759574.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546765 target range: 126.211571 and range: 126.90 m.
2025-08-21T06:59:35.060Z,1755759575.060 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:35.060Z,1755759575.060 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:35.060Z,1755759575.060 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:35.312Z,1755759575.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752317
2025-08-21T06:59:35.352Z,1755759575.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.21 m.
2025-08-21T06:59:35.355Z,1755759575.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.211571 m,
      nav range: 123.331375 m,
      bearing: 101.377629 deg,
      approach rate: -0.513442 m/s,
      LOS rate: 0.058707 deg/s,
      cmd heading: 88.623111 deg,
      new cmd heading: 88.699712 deg.

2025-08-21T06:59:35.356Z,1755759575.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548102 target range: 126.211571 and range: 126.90 m.
2025-08-21T06:59:35.565Z,1755759575.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004791
2025-08-21T06:59:35.743Z,1755759575.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.21 m.
2025-08-21T06:59:35.750Z,1755759575.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.211571 m,
      nav range: 123.131294 m,
      bearing: 101.400546 deg,
      approach rate: -0.512598 m/s,
      LOS rate: 0.058807 deg/s,
      cmd heading: 88.699712 deg,
      new cmd heading: 88.768574 deg.

2025-08-21T06:59:35.751Z,1755759575.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549304 target range: 126.211571 and range: 126.90 m.
2025-08-21T06:59:35.816Z,1755759575.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256416
2025-08-21T06:59:36.068Z,1755759576.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508300
2025-08-21T06:59:36.159Z,1755759576.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.21 m.
2025-08-21T06:59:36.165Z,1755759576.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.211571 m,
      nav range: 122.919228 m,
      bearing: 101.424547 deg,
      approach rate: -0.510034 m/s,
      LOS rate: 0.057825 deg/s,
      cmd heading: 88.768574 deg,
      new cmd heading: 88.840704 deg.

2025-08-21T06:59:36.167Z,1755759576.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550563 target range: 126.211571 and range: 126.90 m.
2025-08-21T06:59:36.320Z,1755759576.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760245
2025-08-21T06:59:36.532Z,1755759576.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.21 m.
2025-08-21T06:59:36.535Z,1755759576.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.211571 m,
      nav range: 122.724075 m,
      bearing: 101.446510 deg,
      approach rate: -0.522258 m/s,
      LOS rate: 0.058869 deg/s,
      cmd heading: 88.840701 deg,
      new cmd heading: 88.906694 deg.

2025-08-21T06:59:36.536Z,1755759576.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551715 target range: 126.211571 and range: 126.90 m.
2025-08-21T06:59:36.573Z,1755759576.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012517
2025-08-21T06:59:36.824Z,1755759576.824 [DAT](INFO): DAT read: Rx Time:06:59:35.4428

2025-08-21T06:59:36.825Z,1755759576.825 [DAT](INFO): Rx dataTimestamp_ set to:1755759576.824456
2025-08-21T06:59:36.825Z,1755759576.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265294
2025-08-21T06:59:36.938Z,1755759576.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:36.940Z,1755759576.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.21 m.
2025-08-21T06:59:36.942Z,1755759576.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 126.211571 m,
      nav range: 122.513351 m,
      bearing: 101.470147 deg,
      approach rate: -0.516844 m/s,
      LOS rate: 0.058073 deg/s,
      cmd heading: 88.906694 deg,
      new cmd heading: 88.977726 deg.

2025-08-21T06:59:36.960Z,1755759576.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552954 target range: 126.211571 and range: 126.90 m.
2025-08-21T06:59:37.081Z,1755759577.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519780
2025-08-21T06:59:37.335Z,1755759577.335 [DAT](INFO): DAT read: 06:59:35.4428 LVL= 27840, 32753, 30066, 32755, AGC= 68, IDX= 423, 0.24,-2.530, 1.942,-2.882,-2.814, PHS= 0.386,-1.482,-0.112, RAW= 135.1,  14.3, CAL= 134.2,  15.4, ROT=  15.8, -15.4

2025-08-21T06:59:37.336Z,1755759577.336 [DAT](INFO): got valid direction response:
 06:59:35.4428 LVL= 27840, 32753, 30066, 32755, AGC= 68, IDX= 423, 0.24,-2.530, 1.942,-2.882,-2.814, PHS= 0.386,-1.482,-0.112, RAW= 135.1,  14.3, CAL= 134.2,  15.4, ROT=  15.8, -15.4

2025-08-21T06:59:37.337Z,1755759577.337 [DAT](INFO): DAT read: Bearing 245.1,   9.6 (Local)

2025-08-21T06:59:37.337Z,1755759577.337 [DAT](INFO): Local bearing/azimuth received:
 Bearing 245.1,   9.6 (Local)

2025-08-21T06:59:37.339Z,1755759577.339 [DAT](INFO): DAT read: Range 11 to 50 : 124.9 m  (Round-trip  166.6 ms) speed  0.7 m/s

2025-08-21T06:59:37.344Z,1755759577.344 [DAT](INFO): DAT read: user:2012>

2025-08-21T06:59:37.344Z,1755759577.344 [DAT](INFO): DAT read: Tx time:06:59:36.5720

2025-08-21T06:59:37.345Z,1755759577.345 [DAT](INFO): Ping request sent.
2025-08-21T06:59:37.345Z,1755759577.345 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:37.345Z,1755759577.345 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:37.346Z,1755759577.346 [DAT](INFO): direction in FSK: [0.927670,0.262504,0.265556]
2025-08-21T06:59:37.346Z,1755759577.346 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:37.347Z,1755759577.347 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:37.350Z,1755759577.350 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:37.350Z,1755759577.350 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:37.489Z,1755759577.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 124.900002 m,
      deltaT: 3.780295 s,
      deltaX: -2.000000 m,
      approachRate: -0.529059 m/s,
      rangeRepo size: 4

2025-08-21T06:59:37.507Z,1755759577.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 124.222382 m,
      bearing: 102.273721 deg,
      lat: 36.779334 deg,
      lon: -121.859438 deg,
      deltaT: 3.780295 s,
      deltaX: -1.989189 m,
      approachRate: -0.526199 m/s,
      posRepo size: 4

2025-08-21T06:59:37.508Z,1755759577.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.22 m.
2025-08-21T06:59:37.511Z,1755759577.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.222382 m,
      nav range: 122.262955 m,
      bearing: 101.528112 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.058073 deg/s,
      cmd heading: 88.977728 deg,
      new cmd heading: 89.073313 deg.

2025-08-21T06:59:37.517Z,1755759577.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554623 target range: 124.222382 and range: 124.90 m.
2025-08-21T06:59:37.814Z,1755759577.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.22 m.
2025-08-21T06:59:37.837Z,1755759577.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.222382 m,
      nav range: 122.071770 m,
      bearing: 101.551911 deg,
      approach rate: -0.587437 m/s,
      LOS rate: 0.073239 deg/s,
      cmd heading: 89.073317 deg,
      new cmd heading: 89.144825 deg.

2025-08-21T06:59:37.838Z,1755759577.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555871 target range: 124.222382 and range: 124.90 m.
2025-08-21T06:59:38.221Z,1755759578.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.22 m.
2025-08-21T06:59:38.223Z,1755759578.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.222382 m,
      nav range: 121.863991 m,
      bearing: 101.577594 deg,
      approach rate: -0.511205 m/s,
      LOS rate: 0.063296 deg/s,
      cmd heading: 89.144822 deg,
      new cmd heading: 89.222002 deg.

2025-08-21T06:59:38.224Z,1755759578.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.557218 target range: 124.222382 and range: 124.90 m.
2025-08-21T06:59:38.597Z,1755759578.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.22 m.
2025-08-21T06:59:38.600Z,1755759578.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.222382 m,
      nav range: 121.671356 m,
      bearing: 101.601326 deg,
      approach rate: -0.511777 m/s,
      LOS rate: 0.063150 deg/s,
      cmd heading: 89.222003 deg,
      new cmd heading: 89.293312 deg.

2025-08-21T06:59:38.601Z,1755759578.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558462 target range: 124.222382 and range: 124.90 m.
2025-08-21T06:59:39.020Z,1755759579.020 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:39.023Z,1755759579.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.22 m.
2025-08-21T06:59:39.028Z,1755759579.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.222382 m,
      nav range: 121.463577 m,
      bearing: 101.626889 deg,
      approach rate: -0.488160 m/s,
      LOS rate: 0.060161 deg/s,
      cmd heading: 89.293310 deg,
      new cmd heading: 89.370130 deg.

2025-08-21T06:59:39.036Z,1755759579.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559803 target range: 124.222382 and range: 124.90 m.
2025-08-21T06:59:39.095Z,1755759579.095 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:39.095Z,1755759579.095 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:39.096Z,1755759579.096 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:39.345Z,1755759579.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000204
2025-08-21T06:59:39.475Z,1755759579.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.22 m.
2025-08-21T06:59:39.478Z,1755759579.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.222382 m,
      nav range: 121.225533 m,
      bearing: 101.656940 deg,
      approach rate: -0.527343 m/s,
      LOS rate: 0.066703 deg/s,
      cmd heading: 89.370129 deg,
      new cmd heading: 89.460459 deg.

2025-08-21T06:59:39.480Z,1755759579.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561380 target range: 124.222382 and range: 124.90 m.
2025-08-21T06:59:39.596Z,1755759579.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251285
2025-08-21T06:59:39.837Z,1755759579.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.22 m.
2025-08-21T06:59:39.844Z,1755759579.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.222382 m,
      nav range: 121.043175 m,
      bearing: 101.679847 deg,
      approach rate: -0.502120 m/s,
      LOS rate: 0.063169 deg/s,
      cmd heading: 89.460459 deg,
      new cmd heading: 89.529283 deg.

2025-08-21T06:59:39.845Z,1755759579.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562581 target range: 124.222382 and range: 124.90 m.
2025-08-21T06:59:39.848Z,1755759579.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503481
2025-08-21T06:59:40.103Z,1755759580.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757915
2025-08-21T06:59:40.260Z,1755759580.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.22 m.
2025-08-21T06:59:40.263Z,1755759580.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.222382 m,
      nav range: 120.814438 m,
      bearing: 101.707517 deg,
      approach rate: -0.540941 m/s,
      LOS rate: 0.065562 deg/s,
      cmd heading: 89.529280 deg,
      new cmd heading: 89.612449 deg.

2025-08-21T06:59:40.264Z,1755759580.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.564032 target range: 124.222382 and range: 124.90 m.
2025-08-21T06:59:40.352Z,1755759580.352 [DAT](INFO): DAT read: Rx Time:06:59:39.1402

2025-08-21T06:59:40.353Z,1755759580.353 [DAT](INFO): Rx dataTimestamp_ set to:1755759580.352517
2025-08-21T06:59:40.354Z,1755759580.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008739
2025-08-21T06:59:40.604Z,1755759580.604 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259442
2025-08-21T06:59:40.653Z,1755759580.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 124.22 m.
2025-08-21T06:59:40.656Z,1755759580.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 124.222382 m,
      nav range: 120.621880 m,
      bearing: 101.730684 deg,
      approach rate: -0.489969 m/s,
      LOS rate: 0.059041 deg/s,
      cmd heading: 89.612451 deg,
      new cmd heading: 89.682061 deg.

2025-08-21T06:59:40.657Z,1755759580.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.565247 target range: 124.222382 and range: 124.90 m.
2025-08-21T06:59:40.864Z,1755759580.864 [DAT](INFO): DAT read: 06:59:39.1402 LVL= 26784, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.14,-2.045, 2.478,-2.405,-2.307, PHS= 0.363,-1.454,-0.142, RAW= 134.4,  15.0, CAL= 133.4,  16.1, ROT=  16.6, -16.1

2025-08-21T06:59:40.865Z,1755759580.865 [DAT](INFO): got valid direction response:
 06:59:39.1402 LVL= 26784, 32753, 32754, 32755, AGC= 67, IDX= 412, 0.14,-2.045, 2.478,-2.405,-2.307, PHS= 0.363,-1.454,-0.142, RAW= 134.4,  15.0, CAL= 133.4,  16.1, ROT=  16.6, -16.1

2025-08-21T06:59:40.866Z,1755759580.866 [DAT](INFO): DAT read: Bearing 248.9,  11.3 (Local)

2025-08-21T06:59:40.867Z,1755759580.867 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.9,  11.3 (Local)

2025-08-21T06:59:40.868Z,1755759580.868 [DAT](INFO): DAT read: Range 11 to 50 : 123.0 m  (Round-trip  164.0 ms) speed  0.8 m/s

2025-08-21T06:59:40.869Z,1755759580.869 [DAT](INFO): DAT read: user:2013>

2025-08-21T06:59:40.869Z,1755759580.869 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:40.870Z,1755759580.870 [DAT](INFO): direction in FSK: [0.920736,0.274483,0.277315]
2025-08-21T06:59:40.870Z,1755759580.870 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:40.876Z,1755759580.876 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:40.877Z,1755759580.877 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:40.878Z,1755759580.878 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:41.068Z,1755759581.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 123.000000 m,
      deltaT: 3.528305 s,
      deltaX: -1.900002 m,
      approachRate: -0.538503 m/s,
      rangeRepo size: 4

2025-08-21T06:59:41.070Z,1755759581.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 122.332550 m,
      bearing: 103.815056 deg,
      lat: 36.779320 deg,
      lon: -121.859440 deg,
      deltaT: 3.528305 s,
      deltaX: -1.889832 m,
      approachRate: -0.535620 m/s,
      posRepo size: 4

2025-08-21T06:59:41.070Z,1755759581.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.33 m.
2025-08-21T06:59:41.092Z,1755759581.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.332550 m,
      nav range: 120.606796 m,
      bearing: 102.512711 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.059041 deg/s,
      cmd heading: 89.682064 deg,
      new cmd heading: 89.752526 deg.

2025-08-21T06:59:41.100Z,1755759581.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.566477 target range: 122.332550 and range: 123.00 m.
2025-08-21T06:59:41.111Z,1755759581.111 [DAT](INFO): DAT read: Tx time:06:59:40.72

2025-08-21T06:59:41.112Z,1755759581.112 [DAT](INFO): Ping request sent.
2025-08-21T06:59:41.113Z,1755759581.113 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:41.113Z,1755759581.113 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:41.116Z,1755759581.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003495
2025-08-21T06:59:41.361Z,1755759581.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248579
2025-08-21T06:59:41.545Z,1755759581.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:41.551Z,1755759581.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.33 m.
2025-08-21T06:59:41.554Z,1755759581.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.332550 m,
      nav range: 120.360069 m,
      bearing: 102.545611 deg,
      approach rate: -0.497248 m/s,
      LOS rate: 0.066443 deg/s,
      cmd heading: 89.752524 deg,
      new cmd heading: 89.851428 deg.

2025-08-21T06:59:41.555Z,1755759581.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.568203 target range: 122.332550 and range: 123.00 m.
2025-08-21T06:59:41.612Z,1755759581.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500130
2025-08-21T06:59:41.865Z,1755759581.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752353
2025-08-21T06:59:41.934Z,1755759581.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.33 m.
2025-08-21T06:59:41.938Z,1755759581.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.332550 m,
      nav range: 120.166710 m,
      bearing: 102.571025 deg,
      approach rate: -0.499774 m/s,
      LOS rate: 0.065793 deg/s,
      cmd heading: 89.851425 deg,
      new cmd heading: 89.927791 deg.

2025-08-21T06:59:41.940Z,1755759581.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.569536 target range: 122.332550 and range: 123.00 m.
2025-08-21T06:59:42.122Z,1755759582.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009309
2025-08-21T06:59:42.363Z,1755759582.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.33 m.
2025-08-21T06:59:42.366Z,1755759582.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.332550 m,
      nav range: 119.945702 m,
      bearing: 102.600193 deg,
      approach rate: -0.519792 m/s,
      LOS rate: 0.068726 deg/s,
      cmd heading: 89.927794 deg,
      new cmd heading: 90.015458 deg.

2025-08-21T06:59:42.368Z,1755759582.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256132
2025-08-21T06:59:42.367Z,1755759582.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.571066 target range: 122.332550 and range: 123.00 m.
2025-08-21T06:59:42.620Z,1755759582.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507939
2025-08-21T06:59:42.713Z,1755759582.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.33 m.
2025-08-21T06:59:42.716Z,1755759582.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.332550 m,
      nav range: 119.762749 m,
      bearing: 102.624167 deg,
      approach rate: -0.516858 m/s,
      LOS rate: 0.067835 deg/s,
      cmd heading: 90.015459 deg,
      new cmd heading: 90.087494 deg.

2025-08-21T06:59:42.717Z,1755759582.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.572323 target range: 122.332550 and range: 123.00 m.
2025-08-21T06:59:42.872Z,1755759582.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760271
2025-08-21T06:59:43.128Z,1755759583.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014570
2025-08-21T06:59:43.178Z,1755759583.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.33 m.
2025-08-21T06:59:43.185Z,1755759583.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.332550 m,
      nav range: 119.555267 m,
      bearing: 102.651311 deg,
      approach rate: -0.445766 m/s,
      LOS rate: 0.058418 deg/s,
      cmd heading: 90.087490 deg,
      new cmd heading: 90.169062 deg.

2025-08-21T06:59:43.186Z,1755759583.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.573747 target range: 122.332550 and range: 123.00 m.
2025-08-21T06:59:43.376Z,1755759583.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263929
2025-08-21T06:59:43.542Z,1755759583.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.33 m.
2025-08-21T06:59:43.545Z,1755759583.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.332550 m,
      nav range: 119.337959 m,
      bearing: 102.678940 deg,
      approach rate: -0.598175 m/s,
      LOS rate: 0.076192 deg/s,
      cmd heading: 90.169063 deg,
      new cmd heading: 90.252101 deg.

2025-08-21T06:59:43.546Z,1755759583.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.575196 target range: 122.332550 and range: 123.00 m.
2025-08-21T06:59:43.629Z,1755759583.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516480
2025-08-21T06:59:43.880Z,1755759583.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768041
2025-08-21T06:59:43.926Z,1755759583.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:43.928Z,1755759583.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.33 m.
2025-08-21T06:59:43.933Z,1755759583.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.332550 m,
      nav range: 119.137947 m,
      bearing: 102.704361 deg,
      approach rate: -0.517761 m/s,
      LOS rate: 0.065917 deg/s,
      cmd heading: 90.252098 deg,
      new cmd heading: 90.328489 deg.

2025-08-21T06:59:43.936Z,1755759583.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.576530 target range: 122.332550 and range: 123.00 m.
2025-08-21T06:59:44.139Z,1755759584.139 [DAT](INFO): DAT read: Rx Time:06:59:42.8377

2025-08-21T06:59:44.140Z,1755759584.140 [DAT](INFO): Rx dataTimestamp_ set to:1755759584.139582
2025-08-21T06:59:44.142Z,1755759584.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029919
2025-08-21T06:59:44.384Z,1755759584.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272112
2025-08-21T06:59:44.424Z,1755759584.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.33 m.
2025-08-21T06:59:44.426Z,1755759584.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.332550 m,
      nav range: 118.894913 m,
      bearing: 102.734493 deg,
      approach rate: -0.490673 m/s,
      LOS rate: 0.060960 deg/s,
      cmd heading: 90.328487 deg,
      new cmd heading: 90.419068 deg.

2025-08-21T06:59:44.435Z,1755759584.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.578110 target range: 122.332550 and range: 123.00 m.
2025-08-21T06:59:44.642Z,1755759584.642 [DAT](INFO): DAT read: 06:59:42.8377 LVL= 28960, 32753, 32754, 32755, AGC= 69, IDX= 419,-0.31,-1.519, 2.961,-1.876,-1.819, PHS= 0.402,-1.458,-0.100, RAW= 134.9,  13.8, CAL= 134.1,  14.9, ROT=  15.9, -14.9

2025-08-21T06:59:44.643Z,1755759584.643 [DAT](INFO): got valid direction response:
 06:59:42.8377 LVL= 28960, 32753, 32754, 32755, AGC= 69, IDX= 419,-0.31,-1.519, 2.961,-1.876,-1.819, PHS= 0.402,-1.458,-0.100, RAW= 134.9,  13.8, CAL= 134.1,  14.9, ROT=  15.9, -14.9

2025-08-21T06:59:44.644Z,1755759584.644 [DAT](INFO): DAT read: Bearing 250.7,  11.5 (Local)

2025-08-21T06:59:44.644Z,1755759584.644 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.7,  11.5 (Local)

2025-08-21T06:59:44.646Z,1755759584.646 [DAT](INFO): DAT read: Range 11 to 50 : 121.2 m  (Round-trip  161.6 ms) speed  0.4 m/s

2025-08-21T06:59:44.646Z,1755759584.646 [DAT](INFO): DAT read: user:2014>

2025-08-21T06:59:44.649Z,1755759584.649 [DAT](INFO): DAT read: Tx time:06:59:43.9220

2025-08-21T06:59:44.651Z,1755759584.651 [DAT](INFO): Ping request sent.
2025-08-21T06:59:44.651Z,1755759584.651 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:44.653Z,1755759584.653 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:44.656Z,1755759584.656 [DAT](INFO): direction in FSK: [0.929404,0.264748,0.257133]
2025-08-21T06:59:44.656Z,1755759584.656 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:44.656Z,1755759584.656 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:44.659Z,1755759584.659 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:44.660Z,1755759584.660 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:44.880Z,1755759584.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 121.199997 m,
      deltaT: 3.779424 s,
      deltaX: -1.800003 m,
      approachRate: -0.476264 m/s,
      rangeRepo size: 4

2025-08-21T06:59:44.882Z,1755759584.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 120.542084 m,
      bearing: 103.999989 deg,
      lat: 36.779315 deg,
      lon: -121.859442 deg,
      deltaT: 3.779424 s,
      deltaX: -1.790466 m,
      approachRate: -0.473741 m/s,
      posRepo size: 4

2025-08-21T06:59:44.882Z,1755759584.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.54 m.
2025-08-21T06:59:44.890Z,1755759584.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.542084 m,
      nav range: 118.575943 m,
      bearing: 103.012645 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060960 deg/s,
      cmd heading: 90.419069 deg,
      new cmd heading: 90.501620 deg.

2025-08-21T06:59:44.895Z,1755759584.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.579551 target range: 120.542084 and range: 121.20 m.
2025-08-21T06:59:45.406Z,1755759585.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.54 m.
2025-08-21T06:59:45.408Z,1755759585.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.542084 m,
      nav range: 118.298607 m,
      bearing: 103.046579 deg,
      approach rate: -0.522489 m/s,
      LOS rate: 0.064079 deg/s,
      cmd heading: 90.501618 deg,
      new cmd heading: 90.603657 deg.

2025-08-21T06:59:45.409Z,1755759585.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.581332 target range: 120.542084 and range: 121.20 m.
2025-08-21T06:59:45.792Z,1755759585.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.54 m.
2025-08-21T06:59:45.795Z,1755759585.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.542084 m,
      nav range: 118.102142 m,
      bearing: 103.070593 deg,
      approach rate: -0.507836 m/s,
      LOS rate: 0.062176 deg/s,
      cmd heading: 90.603655 deg,
      new cmd heading: 90.675816 deg.

2025-08-21T06:59:45.812Z,1755759585.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.582592 target range: 120.542084 and range: 121.20 m.
2025-08-21T06:59:46.316Z,1755759586.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:46.319Z,1755759586.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.54 m.
2025-08-21T06:59:46.322Z,1755759586.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.542084 m,
      nav range: 117.832664 m,
      bearing: 103.101706 deg,
      approach rate: -0.512237 m/s,
      LOS rate: 0.059277 deg/s,
      cmd heading: 90.675816 deg,
      new cmd heading: 90.769368 deg.

2025-08-21T06:59:46.343Z,1755759586.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.584224 target range: 120.542084 and range: 121.20 m.
2025-08-21T06:59:46.400Z,1755759586.400 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:46.401Z,1755759586.401 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:46.401Z,1755759586.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:46.653Z,1755759586.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002153
2025-08-21T06:59:46.683Z,1755759586.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.54 m.
2025-08-21T06:59:46.685Z,1755759586.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.542084 m,
      nav range: 117.644615 m,
      bearing: 103.123411 deg,
      approach rate: -0.516371 m/s,
      LOS rate: 0.059697 deg/s,
      cmd heading: 90.769369 deg,
      new cmd heading: 90.834589 deg.

2025-08-21T06:59:46.686Z,1755759586.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.585363 target range: 120.542084 and range: 121.20 m.
2025-08-21T06:59:46.904Z,1755759586.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253845
2025-08-21T06:59:47.089Z,1755759587.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.54 m.
2025-08-21T06:59:47.097Z,1755759587.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.542084 m,
      nav range: 117.444275 m,
      bearing: 103.146484 deg,
      approach rate: -0.494245 m/s,
      LOS rate: 0.057018 deg/s,
      cmd heading: 90.834590 deg,
      new cmd heading: 90.903926 deg.

2025-08-21T06:59:47.098Z,1755759587.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.586573 target range: 120.542084 and range: 121.20 m.
2025-08-21T06:59:47.157Z,1755759587.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506933
2025-08-21T06:59:47.408Z,1755759587.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757802
2025-08-21T06:59:47.543Z,1755759587.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.54 m.
2025-08-21T06:59:47.545Z,1755759587.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.542084 m,
      nav range: 117.210426 m,
      bearing: 103.172963 deg,
      approach rate: -0.514291 m/s,
      LOS rate: 0.058349 deg/s,
      cmd heading: 90.903923 deg,
      new cmd heading: 90.983518 deg.

2025-08-21T06:59:47.546Z,1755759587.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.587962 target range: 120.542084 and range: 121.20 m.
2025-08-21T06:59:47.660Z,1755759587.660 [DAT](INFO): DAT read: Rx Time:06:59:46.4850

2025-08-21T06:59:47.661Z,1755759587.661 [DAT](INFO): Rx dataTimestamp_ set to:1755759587.660608
2025-08-21T06:59:47.661Z,1755759587.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011040
2025-08-21T06:59:47.898Z,1755759587.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.54 m.
2025-08-21T06:59:47.918Z,1755759587.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267296
2025-08-21T06:59:47.932Z,1755759587.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.542084 m,
      nav range: 117.036301 m,
      bearing: 103.192591 deg,
      approach rate: -0.489819 m/s,
      LOS rate: 0.055298 deg/s,
      cmd heading: 90.983516 deg,
      new cmd heading: 91.042489 deg.

2025-08-21T06:59:47.934Z,1755759587.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.588991 target range: 120.542084 and range: 121.20 m.
2025-08-21T06:59:48.173Z,1755759588.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521683
2025-08-21T06:59:48.330Z,1755759588.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:48.352Z,1755759588.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.54 m.
2025-08-21T06:59:48.355Z,1755759588.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 120.542084 m,
      nav range: 116.815460 m,
      bearing: 103.217623 deg,
      approach rate: -0.486366 m/s,
      LOS rate: 0.055233 deg/s,
      cmd heading: 91.042487 deg,
      new cmd heading: 91.117725 deg.

2025-08-21T06:59:48.362Z,1755759588.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.590304 target range: 120.542084 and range: 121.20 m.
2025-08-21T06:59:48.432Z,1755759588.432 [DAT](INFO): DAT read: 06:59:46.4850 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 409,-0.49, 2.698, 0.994, 2.404, 2.408, PHS= 0.392,-1.369,-0.048, RAW= 136.1,  12.9, CAL= 135.4,  13.9, ROT=  14.6, -13.9

2025-08-21T06:59:48.434Z,1755759588.434 [DAT](INFO): got valid direction response:
 06:59:46.4850 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 409,-0.49, 2.698, 0.994, 2.404, 2.408, PHS= 0.392,-1.369,-0.048, RAW= 136.1,  12.9, CAL= 135.4,  13.9, ROT=  14.6, -13.9

2025-08-21T06:59:48.437Z,1755759588.437 [DAT](INFO): DAT read: Bearing 252.1,  11.0 (Local)

2025-08-21T06:59:48.437Z,1755759588.437 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.1,  11.0 (Local)

2025-08-21T06:59:48.440Z,1755759588.440 [DAT](INFO): DAT read: Range 11 to 50 : 119.1 m  (Round-trip  158.9 ms) speed  0.5 m/s

2025-08-21T06:59:48.441Z,1755759588.441 [DAT](INFO): DAT read: user:2015>

2025-08-21T06:59:48.443Z,1755759588.443 [DAT](INFO): DAT read: Tx time:06:59:47.5719

2025-08-21T06:59:48.453Z,1755759588.453 [DAT](INFO): Ping request sent.
2025-08-21T06:59:48.453Z,1755759588.453 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:48.454Z,1755759588.454 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:48.463Z,1755759588.463 [DAT](INFO): direction in FSK: [0.939371,0.244688,0.240228]
2025-08-21T06:59:48.464Z,1755759588.464 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:48.464Z,1755759588.464 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:48.467Z,1755759588.467 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:48.475Z,1755759588.475 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:48.741Z,1755759588.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.099998 m,
      deltaT: 3.785245 s,
      deltaX: -2.099998 m,
      approachRate: -0.554785 m/s,
      rangeRepo size: 4

2025-08-21T06:59:48.747Z,1755759588.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 118.453621 m,
      bearing: 103.621898 deg,
      lat: 36.779309 deg,
      lon: -121.859447 deg,
      deltaT: 3.785245 s,
      deltaX: -2.088463 m,
      approachRate: -0.551738 m/s,
      posRepo size: 4

2025-08-21T06:59:48.748Z,1755759588.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.45 m.
2025-08-21T06:59:48.750Z,1755759588.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.453621 m,
      nav range: 116.363998 m,
      bearing: 103.621496 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.055233 deg/s,
      cmd heading: 91.117722 deg,
      new cmd heading: 91.182023 deg.

2025-08-21T06:59:48.752Z,1755759588.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.591426 target range: 118.453621 and range: 119.10 m.
2025-08-21T06:59:49.117Z,1755759589.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.45 m.
2025-08-21T06:59:49.136Z,1755759589.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.453621 m,
      nav range: 116.162117 m,
      bearing: 103.644812 deg,
      approach rate: -0.536052 m/s,
      LOS rate: 0.062018 deg/s,
      cmd heading: 91.182021 deg,
      new cmd heading: 91.252091 deg.

2025-08-21T06:59:49.137Z,1755759589.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.592649 target range: 118.453621 and range: 119.10 m.
2025-08-21T06:59:49.547Z,1755759589.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.45 m.
2025-08-21T06:59:49.550Z,1755759589.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.453621 m,
      nav range: 115.944382 m,
      bearing: 103.670291 deg,
      approach rate: -0.506355 m/s,
      LOS rate: 0.059363 deg/s,
      cmd heading: 91.252092 deg,
      new cmd heading: 91.328672 deg.

2025-08-21T06:59:49.551Z,1755759589.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.593986 target range: 118.453621 and range: 119.10 m.
2025-08-21T06:59:49.960Z,1755759589.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.45 m.
2025-08-21T06:59:49.962Z,1755759589.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.453621 m,
      nav range: 115.734627 m,
      bearing: 103.694684 deg,
      approach rate: -0.508538 m/s,
      LOS rate: 0.059248 deg/s,
      cmd heading: 91.328672 deg,
      new cmd heading: 91.401985 deg.

2025-08-21T06:59:49.964Z,1755759589.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.595266 target range: 118.453621 and range: 119.10 m.
2025-08-21T06:59:50.352Z,1755759590.352 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:50.354Z,1755759590.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.45 m.
2025-08-21T06:59:50.357Z,1755759590.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.453621 m,
      nav range: 115.532875 m,
      bearing: 103.719014 deg,
      approach rate: -0.510734 m/s,
      LOS rate: 0.061698 deg/s,
      cmd heading: 91.401988 deg,
      new cmd heading: 91.475104 deg.

2025-08-21T06:59:50.358Z,1755759590.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.596542 target range: 118.453621 and range: 119.10 m.
2025-08-21T06:59:50.438Z,1755759590.438 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:50.438Z,1755759590.438 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:50.438Z,1755759590.438 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:50.688Z,1755759590.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235204
2025-08-21T06:59:50.740Z,1755759590.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.45 m.
2025-08-21T06:59:50.742Z,1755759590.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.453621 m,
      nav range: 115.336449 m,
      bearing: 103.742544 deg,
      approach rate: -0.510136 m/s,
      LOS rate: 0.061214 deg/s,
      cmd heading: 91.475105 deg,
      new cmd heading: 91.545815 deg.

2025-08-21T06:59:50.743Z,1755759590.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.597776 target range: 118.453621 and range: 119.10 m.
2025-08-21T06:59:50.941Z,1755759590.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487997
2025-08-21T06:59:51.158Z,1755759591.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.45 m.
2025-08-21T06:59:51.162Z,1755759591.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.453621 m,
      nav range: 115.131073 m,
      bearing: 103.767004 deg,
      approach rate: -0.491632 m/s,
      LOS rate: 0.058656 deg/s,
      cmd heading: 91.545818 deg,
      new cmd heading: 91.619327 deg.

2025-08-21T06:59:51.164Z,1755759591.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.599059 target range: 118.453621 and range: 119.10 m.
2025-08-21T06:59:51.192Z,1755759591.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739158
2025-08-21T06:59:51.444Z,1755759591.444 [DAT](INFO): DAT read: Rx Time:06:59:50.1326

2025-08-21T06:59:51.445Z,1755759591.445 [DAT](INFO): Rx dataTimestamp_ set to:1755759591.444522
2025-08-21T06:59:51.445Z,1755759591.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992320
2025-08-21T06:59:51.570Z,1755759591.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.45 m.
2025-08-21T06:59:51.573Z,1755759591.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 118.453621 m,
      nav range: 114.905319 m,
      bearing: 103.793317 deg,
      approach rate: -0.546425 m/s,
      LOS rate: 0.063816 deg/s,
      cmd heading: 91.619324 deg,
      new cmd heading: 91.698420 deg.

2025-08-21T06:59:51.574Z,1755759591.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.600439 target range: 118.453621 and range: 119.10 m.
2025-08-21T06:59:51.696Z,1755759591.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243144
2025-08-21T06:59:51.954Z,1755759591.954 [DAT](INFO): DAT read: 06:59:50.1326 LVL= 31648, 32753, 32754, 32755, AGC= 67, IDX= 414, 0.35, 0.943,-0.862, 0.668, 0.639, PHS= 0.407,-1.456,-0.015, RAW= 137.5,  12.5, CAL= 136.9,  13.6, ROT=  13.1, -13.6

2025-08-21T06:59:51.955Z,1755759591.955 [DAT](INFO): got valid direction response:
 06:59:50.1326 LVL= 31648, 32753, 32754, 32755, AGC= 67, IDX= 414, 0.35, 0.943,-0.862, 0.668, 0.639, PHS= 0.407,-1.456,-0.015, RAW= 137.5,  12.5, CAL= 136.9,  13.6, ROT=  13.1, -13.6

2025-08-21T06:59:51.956Z,1755759591.956 [DAT](INFO): DAT read: Bearing 254.4,  10.7 (Local)

2025-08-21T06:59:51.957Z,1755759591.957 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.4,  10.7 (Local)

2025-08-21T06:59:51.958Z,1755759591.958 [DAT](INFO): DAT read: Range 11 to 50 : 117.3 m  (Round-trip  156.5 ms) speed  0.4 m/s

2025-08-21T06:59:51.959Z,1755759591.959 [DAT](INFO): DAT read: user:2016>

2025-08-21T06:59:51.960Z,1755759591.960 [DAT](INFO): DAT read: Tx time:06:59:51.2219

2025-08-21T06:59:51.960Z,1755759591.960 [DAT](INFO): Ping request sent.
2025-08-21T06:59:51.960Z,1755759591.960 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:51.960Z,1755759591.960 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:51.961Z,1755759591.961 [DAT](INFO): direction in FSK: [0.946667,0.220296,0.235142]
2025-08-21T06:59:51.961Z,1755759591.961 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:51.962Z,1755759591.962 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:51.967Z,1755759591.967 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:51.967Z,1755759591.967 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:52.053Z,1755759592.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 117.300003 m,
      deltaT: 3.526871 s,
      deltaX: -1.799995 m,
      approachRate: -0.510366 m/s,
      rangeRepo size: 4

2025-08-21T06:59:52.056Z,1755759592.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.663216 m,
      bearing: 103.117746 deg,
      lat: 36.779309 deg,
      lon: -121.859447 deg,
      deltaT: 3.526871 s,
      deltaX: -1.790405 m,
      approachRate: -0.507647 m/s,
      posRepo size: 4

2025-08-21T06:59:52.056Z,1755759592.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.66 m.
2025-08-21T06:59:52.059Z,1755759592.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.663216 m,
      nav range: 114.672729 m,
      bearing: 103.820307 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.063816 deg/s,
      cmd heading: 91.698418 deg,
      new cmd heading: 91.790773 deg.

2025-08-21T06:59:52.085Z,1755759592.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.602051 target range: 116.663216 and range: 117.30 m.
2025-08-21T06:59:52.386Z,1755759592.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:52.388Z,1755759592.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.66 m.
2025-08-21T06:59:52.391Z,1755759592.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.663216 m,
      nav range: 114.476318 m,
      bearing: 103.844513 deg,
      approach rate: -0.585882 m/s,
      LOS rate: 0.072330 deg/s,
      cmd heading: 91.790776 deg,
      new cmd heading: 91.863519 deg.

2025-08-21T06:59:52.409Z,1755759592.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.603321 target range: 116.663216 and range: 117.30 m.
2025-08-21T06:59:52.455Z,1755759592.455 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:52.455Z,1755759592.455 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:52.455Z,1755759592.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:52.704Z,1755759592.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744317
2025-08-21T06:59:52.757Z,1755759592.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.66 m.
2025-08-21T06:59:52.759Z,1755759592.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.663216 m,
      nav range: 114.281548 m,
      bearing: 103.868202 deg,
      approach rate: -0.528375 m/s,
      LOS rate: 0.064373 deg/s,
      cmd heading: 91.863517 deg,
      new cmd heading: 91.934705 deg.

2025-08-21T06:59:52.760Z,1755759592.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.604563 target range: 116.663216 and range: 117.30 m.
2025-08-21T06:59:52.959Z,1755759592.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999069
2025-08-21T06:59:53.174Z,1755759593.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.66 m.
2025-08-21T06:59:53.180Z,1755759593.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.663216 m,
      nav range: 114.064148 m,
      bearing: 103.894563 deg,
      approach rate: -0.521711 m/s,
      LOS rate: 0.063381 deg/s,
      cmd heading: 91.934708 deg,
      new cmd heading: 92.013941 deg.

2025-08-21T06:59:53.181Z,1755759593.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.605946 target range: 116.663216 and range: 117.30 m.
2025-08-21T06:59:53.208Z,1755759593.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248158
2025-08-21T06:59:53.460Z,1755759593.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500291
2025-08-21T06:59:53.589Z,1755759593.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.66 m.
2025-08-21T06:59:53.592Z,1755759593.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.663216 m,
      nav range: 113.838394 m,
      bearing: 103.922733 deg,
      approach rate: -0.542546 m/s,
      LOS rate: 0.067835 deg/s,
      cmd heading: 92.013938 deg,
      new cmd heading: 92.098617 deg.

2025-08-21T06:59:53.593Z,1755759593.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.607424 target range: 116.663216 and range: 117.30 m.
2025-08-21T06:59:53.712Z,1755759593.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752366
2025-08-21T06:59:53.964Z,1755759593.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004379
2025-08-21T06:59:53.974Z,1755759593.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.66 m.
2025-08-21T06:59:53.993Z,1755759593.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.663216 m,
      nav range: 113.630081 m,
      bearing: 103.948719 deg,
      approach rate: -0.542137 m/s,
      LOS rate: 0.067753 deg/s,
      cmd heading: 92.098619 deg,
      new cmd heading: 92.176720 deg.

2025-08-21T06:59:53.994Z,1755759593.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608787 target range: 116.663216 and range: 117.30 m.
2025-08-21T06:59:54.218Z,1755759594.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257356
2025-08-21T06:59:54.405Z,1755759594.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:54.409Z,1755759594.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.66 m.
2025-08-21T06:59:54.433Z,1755759594.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.663216 m,
      nav range: 113.405334 m,
      bearing: 103.976291 deg,
      approach rate: -0.516143 m/s,
      LOS rate: 0.063446 deg/s,
      cmd heading: 92.176722 deg,
      new cmd heading: 92.259602 deg.

2025-08-21T06:59:54.434Z,1755759594.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.610234 target range: 116.663216 and range: 117.30 m.
2025-08-21T06:59:54.468Z,1755759594.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508408
2025-08-21T06:59:54.721Z,1755759594.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760610
2025-08-21T06:59:54.776Z,1755759594.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.66 m.
2025-08-21T06:59:54.778Z,1755759594.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.663216 m,
      nav range: 113.210449 m,
      bearing: 104.000056 deg,
      approach rate: -0.531966 m/s,
      LOS rate: 0.064980 deg/s,
      cmd heading: 92.259600 deg,
      new cmd heading: 92.331016 deg.

2025-08-21T06:59:54.799Z,1755759594.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.611480 target range: 116.663216 and range: 117.30 m.
2025-08-21T06:59:54.972Z,1755759594.972 [DAT](INFO): DAT read: Rx Time:06:59:53.7799

2025-08-21T06:59:54.973Z,1755759594.973 [DAT](INFO): Rx dataTimestamp_ set to:1755759594.972449
2025-08-21T06:59:54.973Z,1755759594.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013364
2025-08-21T06:59:55.191Z,1755759595.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.66 m.
2025-08-21T06:59:55.194Z,1755759595.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.663216 m,
      nav range: 112.992500 m,
      bearing: 104.026660 deg,
      approach rate: -0.524508 m/s,
      LOS rate: 0.064147 deg/s,
      cmd heading: 92.331016 deg,
      new cmd heading: 92.410982 deg.

2025-08-21T06:59:55.195Z,1755759595.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.612876 target range: 116.663216 and range: 117.30 m.
2025-08-21T06:59:55.224Z,1755759595.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264275
2025-08-21T06:59:55.368Z,1755759595.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T06:59:55.511Z,1755759595.511 [DAT](INFO): DAT read: 06:59:53.7799 LVL= 29552, 32753, 32754, 32755, AGC= 69, IDX= 420, 0.26, 1.887, 0.045, 1.643, 1.568, PHS= 0.421,-1.477, 0.031, RAW= 138.8,  11.8, CAL= 138.2,  12.8, ROT=  11.8, -12.8

2025-08-21T06:59:55.522Z,1755759595.522 [DAT](INFO): got valid direction response:
 06:59:53.7799 LVL= 29552, 32753, 32754, 32755, AGC= 69, IDX= 420, 0.26, 1.887, 0.045, 1.643, 1.568, PHS= 0.421,-1.477, 0.031, RAW= 138.8,  11.8, CAL= 138.2,  12.8, ROT=  11.8, -12.8

2025-08-21T06:59:55.523Z,1755759595.523 [DAT](INFO): DAT read: Bearing 255.6,  10.3 (Local)

2025-08-21T06:59:55.523Z,1755759595.523 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.6,  10.3 (Local)

2025-08-21T06:59:55.524Z,1755759595.524 [DAT](INFO): DAT read: Range 11 to 50 : 115.4 m  (Round-trip  153.9 ms) speed  0.5 m/s

2025-08-21T06:59:55.525Z,1755759595.525 [DAT](INFO): DAT read: user:2017>

2025-08-21T06:59:55.526Z,1755759595.526 [DAT](INFO): DAT read: Tx time:06:59:54.8719

2025-08-21T06:59:55.526Z,1755759595.526 [DAT](INFO): Ping request sent.
2025-08-21T06:59:55.526Z,1755759595.526 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:55.527Z,1755759595.527 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:55.532Z,1755759595.532 [DAT](INFO): direction in FSK: [0.954542,0.199414,0.221548]
2025-08-21T06:59:55.532Z,1755759595.532 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:55.532Z,1755759595.532 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:55.560Z,1755759595.560 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:55.560Z,1755759595.560 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:55.733Z,1755759595.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.400002 m,
      deltaT: 3.529712 s,
      deltaX: -1.900002 m,
      approachRate: -0.538288 m/s,
      rangeRepo size: 4

2025-08-21T06:59:55.735Z,1755759595.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.773300 m,
      bearing: 102.554570 deg,
      lat: 36.779309 deg,
      lon: -121.859447 deg,
      deltaT: 3.529712 s,
      deltaX: -1.889915 m,
      approachRate: -0.535430 m/s,
      posRepo size: 4

2025-08-21T06:59:55.740Z,1755759595.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.77 m.
2025-08-21T06:59:55.742Z,1755759595.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.773300 m,
      nav range: 112.715126 m,
      bearing: 104.061016 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.064147 deg/s,
      cmd heading: 92.410984 deg,
      new cmd heading: 92.515102 deg.

2025-08-21T06:59:55.743Z,1755759595.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.614693 target range: 114.773300 and range: 115.40 m.
2025-08-21T06:59:56.069Z,1755759596.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.77 m.
2025-08-21T06:59:56.072Z,1755759596.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.773300 m,
      nav range: 112.524391 m,
      bearing: 104.084632 deg,
      approach rate: -0.565519 m/s,
      LOS rate: 0.070139 deg/s,
      cmd heading: 92.515104 deg,
      new cmd heading: 92.586071 deg.

2025-08-21T06:59:56.073Z,1755759596.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.615932 target range: 114.773300 and range: 115.40 m.
2025-08-21T06:59:56.372Z,1755759596.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T06:59:56.511Z,1755759596.511 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:56.513Z,1755759596.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.77 m.
2025-08-21T06:59:56.516Z,1755759596.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.773300 m,
      nav range: 112.288902 m,
      bearing: 104.112658 deg,
      approach rate: -0.530698 m/s,
      LOS rate: 0.063293 deg/s,
      cmd heading: 92.586069 deg,
      new cmd heading: 92.670325 deg.

2025-08-21T06:59:56.517Z,1755759596.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.617402 target range: 114.773300 and range: 115.40 m.
2025-08-21T06:59:56.736Z,1755759596.736 [DAT](INFO): ****** received valid address query ******
2025-08-21T06:59:56.736Z,1755759596.736 [DAT](INFO): ****** received valid ping request ******
2025-08-21T06:59:56.736Z,1755759596.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T06:59:56.887Z,1755759596.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.77 m.
2025-08-21T06:59:56.890Z,1755759596.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.773300 m,
      nav range: 112.090141 m,
      bearing: 104.136335 deg,
      approach rate: -0.532008 m/s,
      LOS rate: 0.063487 deg/s,
      cmd heading: 92.670326 deg,
      new cmd heading: 92.741483 deg.

2025-08-21T06:59:56.891Z,1755759596.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.618644 target range: 114.773300 and range: 115.40 m.
2025-08-21T06:59:56.990Z,1755759596.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.463912
2025-08-21T06:59:57.248Z,1755759597.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721952
2025-08-21T06:59:57.278Z,1755759597.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.77 m.
2025-08-21T06:59:57.281Z,1755759597.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.773300 m,
      nav range: 111.882019 m,
      bearing: 104.161123 deg,
      approach rate: -0.531465 m/s,
      LOS rate: 0.063417 deg/s,
      cmd heading: 92.741483 deg,
      new cmd heading: 92.815985 deg.

2025-08-21T06:59:57.282Z,1755759597.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.619945 target range: 114.773300 and range: 115.40 m.
2025-08-21T06:59:57.505Z,1755759597.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977526
2025-08-21T06:59:57.715Z,1755759597.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.77 m.
2025-08-21T06:59:57.718Z,1755759597.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.773300 m,
      nav range: 111.665665 m,
      bearing: 104.186558 deg,
      approach rate: -0.495081 m/s,
      LOS rate: 0.058314 deg/s,
      cmd heading: 92.815987 deg,
      new cmd heading: 92.892438 deg.

2025-08-21T06:59:57.719Z,1755759597.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621279 target range: 114.773300 and range: 115.40 m.
2025-08-21T06:59:57.753Z,1755759597.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226102
2025-08-21T06:59:58.004Z,1755759598.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477874
2025-08-21T06:59:58.086Z,1755759598.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.77 m.
2025-08-21T06:59:58.090Z,1755759598.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.773300 m,
      nav range: 111.466431 m,
      bearing: 104.209947 deg,
      approach rate: -0.537107 m/s,
      LOS rate: 0.063167 deg/s,
      cmd heading: 92.892437 deg,
      new cmd heading: 92.962731 deg.

2025-08-21T06:59:58.091Z,1755759598.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.622506 target range: 114.773300 and range: 115.40 m.
2025-08-21T06:59:58.256Z,1755759598.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729920
2025-08-21T06:59:58.508Z,1755759598.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981901
2025-08-21T06:59:58.538Z,1755759598.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T06:59:58.540Z,1755759598.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.77 m.
2025-08-21T06:59:58.543Z,1755759598.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.773300 m,
      nav range: 111.246758 m,
      bearing: 104.235264 deg,
      approach rate: -0.484173 m/s,
      LOS rate: 0.055911 deg/s,
      cmd heading: 92.962734 deg,
      new cmd heading: 93.038836 deg.

2025-08-21T06:59:58.544Z,1755759598.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623834 target range: 114.773300 and range: 115.40 m.
2025-08-21T06:59:58.760Z,1755759598.760 [DAT](INFO): DAT read: Rx Time:06:59:57.4273

2025-08-21T06:59:58.761Z,1755759598.761 [DAT](INFO): Rx dataTimestamp_ set to:1755759598.760483
2025-08-21T06:59:58.761Z,1755759598.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234989
2025-08-21T06:59:58.990Z,1755759598.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.77 m.
2025-08-21T06:59:58.992Z,1755759598.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.773300 m,
      nav range: 111.028389 m,
      bearing: 104.260432 deg,
      approach rate: -0.485686 m/s,
      LOS rate: 0.056087 deg/s,
      cmd heading: 93.038836 deg,
      new cmd heading: 93.114488 deg.

2025-08-21T06:59:58.993Z,1755759598.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.625154 target range: 114.773300 and range: 115.40 m.
2025-08-21T06:59:59.012Z,1755759599.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485988
2025-08-21T06:59:59.270Z,1755759599.270 [DAT](INFO): DAT read: 06:59:57.4273 LVL= 31648, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.07,-1.305,-3.138,-1.519,-1.626, PHS= 0.424,-1.466, 0.063, RAW= 139.7,  11.3, CAL= 139.1,  12.2, ROT=  10.9, -12.2

2025-08-21T06:59:59.271Z,1755759599.271 [DAT](INFO): got valid direction response:
 06:59:57.4273 LVL= 31648, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.07,-1.305,-3.138,-1.519,-1.626, PHS= 0.424,-1.466, 0.063, RAW= 139.7,  11.3, CAL= 139.1,  12.2, ROT=  10.9, -12.2

2025-08-21T06:59:59.272Z,1755759599.272 [DAT](INFO): DAT read: Bearing 256.3,  10.3 (Local)

2025-08-21T06:59:59.272Z,1755759599.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.3,  10.3 (Local)

2025-08-21T06:59:59.274Z,1755759599.274 [DAT](INFO): DAT read: Range 11 to 50 : 113.4 m  (Round-trip  151.2 ms) speed  0.4 m/s

2025-08-21T06:59:59.275Z,1755759599.275 [DAT](INFO): DAT read: user:2018>

2025-08-21T06:59:59.275Z,1755759599.275 [DAT](INFO): DAT read: Tx time:06:59:58.5219

2025-08-21T06:59:59.276Z,1755759599.276 [DAT](INFO): Ping request sent.
2025-08-21T06:59:59.276Z,1755759599.276 [DAT](INFO): transmitted an acoustic signal
2025-08-21T06:59:59.276Z,1755759599.276 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T06:59:59.277Z,1755759599.277 [DAT](INFO): direction in FSK: [0.959782,0.184825,0.211325]
2025-08-21T06:59:59.277Z,1755759599.277 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:59.277Z,1755759599.277 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:59.287Z,1755759599.287 [DAT](INFO): publishing transmit ping time
2025-08-21T06:59:59.287Z,1755759599.287 [DAT](INFO): publishing direction and range info
2025-08-21T06:59:59.568Z,1755759599.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 113.400002 m,
      deltaT: 3.786157 s,
      deltaX: -2.000000 m,
      approachRate: -0.528240 m/s,
      rangeRepo size: 4

2025-08-21T06:59:59.570Z,1755759599.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 112.784035 m,
      bearing: 102.170269 deg,
      lat: 36.779322 deg,
      lon: -121.859446 deg,
      deltaT: 3.786157 s,
      deltaX: -1.989265 m,
      approachRate: -0.525405 m/s,
      posRepo size: 4

2025-08-21T06:59:59.571Z,1755759599.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.78 m.
2025-08-21T06:59:59.578Z,1755759599.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.784035 m,
      nav range: 110.473579 m,
      bearing: 103.564476 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.056087 deg/s,
      cmd heading: 93.114487 deg,
      new cmd heading: 93.211690 deg.

2025-08-21T06:59:59.579Z,1755759599.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626851 target range: 112.784035 and range: 113.40 m.
2025-08-21T06:59:59.944Z,1755759599.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.78 m.
2025-08-21T06:59:59.947Z,1755759599.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.784035 m,
      nav range: 110.274857 m,
      bearing: 103.584499 deg,
      approach rate: -0.526960 m/s,
      LOS rate: 0.053191 deg/s,
      cmd heading: 93.211687 deg,
      new cmd heading: 93.271864 deg.

2025-08-21T06:59:59.948Z,1755759599.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.627901 target range: 112.784035 and range: 113.40 m.
2025-08-21T07:00:00.343Z,1755759600.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.78 m.
2025-08-21T07:00:00.347Z,1755759600.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.784035 m,
      nav range: 110.069717 m,
      bearing: 103.605246 deg,
      approach rate: -0.514605 m/s,
      LOS rate: 0.052141 deg/s,
      cmd heading: 93.271861 deg,
      new cmd heading: 93.334217 deg.

2025-08-21T07:00:00.350Z,1755759600.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628989 target range: 112.784035 and range: 113.40 m.
2025-08-21T07:00:00.805Z,1755759600.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:00.807Z,1755759600.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.78 m.
2025-08-21T07:00:00.810Z,1755759600.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.784035 m,
      nav range: 109.842590 m,
      bearing: 103.626675 deg,
      approach rate: -0.489467 m/s,
      LOS rate: 0.046276 deg/s,
      cmd heading: 93.334214 deg,
      new cmd heading: 93.398635 deg.

2025-08-21T07:00:00.811Z,1755759600.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.630114 target range: 112.784035 and range: 113.40 m.
2025-08-21T07:00:01.029Z,1755759601.029 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:01.029Z,1755759601.029 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:01.029Z,1755759601.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:01.188Z,1755759601.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.78 m.
2025-08-21T07:00:01.190Z,1755759601.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.784035 m,
      nav range: 109.657021 m,
      bearing: 103.644140 deg,
      approach rate: -0.487864 m/s,
      LOS rate: 0.045993 deg/s,
      cmd heading: 93.398636 deg,
      new cmd heading: 93.451120 deg.

2025-08-21T07:00:01.208Z,1755759601.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631030 target range: 112.784035 and range: 113.40 m.
2025-08-21T07:00:01.280Z,1755759601.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004632
2025-08-21T07:00:01.532Z,1755759601.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256376
2025-08-21T07:00:01.611Z,1755759601.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.78 m.
2025-08-21T07:00:01.614Z,1755759601.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.784035 m,
      nav range: 109.448227 m,
      bearing: 103.663287 deg,
      approach rate: -0.492614 m/s,
      LOS rate: 0.045260 deg/s,
      cmd heading: 93.451120 deg,
      new cmd heading: 93.508669 deg.

2025-08-21T07:00:01.615Z,1755759601.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.632034 target range: 112.784035 and range: 113.40 m.
2025-08-21T07:00:01.784Z,1755759601.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508390
2025-08-21T07:00:01.995Z,1755759601.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.78 m.
2025-08-21T07:00:01.998Z,1755759601.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.784035 m,
      nav range: 109.259163 m,
      bearing: 103.680584 deg,
      approach rate: -0.492620 m/s,
      LOS rate: 0.045148 deg/s,
      cmd heading: 93.508671 deg,
      new cmd heading: 93.560653 deg.

2025-08-21T07:00:01.999Z,1755759601.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.632941 target range: 112.784035 and range: 113.40 m.
2025-08-21T07:00:02.037Z,1755759602.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761196
2025-08-21T07:00:02.288Z,1755759602.288 [DAT](INFO): DAT read: Rx Time:07:00:01.0749

2025-08-21T07:00:02.289Z,1755759602.289 [DAT](INFO): Rx dataTimestamp_ set to:1755759602.288398
2025-08-21T07:00:02.289Z,1755759602.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013440
2025-08-21T07:00:02.466Z,1755759602.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.78 m.
2025-08-21T07:00:02.476Z,1755759602.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.784035 m,
      nav range: 109.042625 m,
      bearing: 103.700417 deg,
      approach rate: -0.460188 m/s,
      LOS rate: 0.042234 deg/s,
      cmd heading: 93.560655 deg,
      new cmd heading: 93.620274 deg.

2025-08-21T07:00:02.477Z,1755759602.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633982 target range: 112.784035 and range: 113.40 m.
2025-08-21T07:00:02.541Z,1755759602.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265241
2025-08-21T07:00:02.800Z,1755759602.800 [DAT](INFO): DAT read: 07:00:01.0749 LVL= 27072, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.05,-1.724, 2.794,-1.939,-2.042, PHS= 0.420,-1.402, 0.059, RAW= 139.2,  11.0, CAL= 138.7,  12.0, ROT=  11.3, -12.0

2025-08-21T07:00:02.802Z,1755759602.802 [DAT](INFO): got valid direction response:
 07:00:01.0749 LVL= 27072, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.05,-1.724, 2.794,-1.939,-2.042, PHS= 0.420,-1.402, 0.059, RAW= 139.2,  11.0, CAL= 138.7,  12.0, ROT=  11.3, -12.0

2025-08-21T07:00:02.802Z,1755759602.802 [DAT](INFO): DAT read: Bearing 257.4,  11.3 (Local)

2025-08-21T07:00:02.803Z,1755759602.803 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.4,  11.3 (Local)

2025-08-21T07:00:02.804Z,1755759602.804 [DAT](INFO): DAT read: Range 11 to 50 : 111.6 m  (Round-trip  148.8 ms) speed  0.5 m/s

2025-08-21T07:00:02.805Z,1755759602.805 [DAT](INFO): DAT read: user:2019>

2025-08-21T07:00:02.806Z,1755759602.806 [DAT](INFO): DAT read: Tx time:07:00:02.1719

2025-08-21T07:00:02.806Z,1755759602.806 [DAT](INFO): Ping request sent.
2025-08-21T07:00:02.806Z,1755759602.806 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:02.806Z,1755759602.806 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:02.808Z,1755759602.808 [DAT](INFO): direction in FSK: [0.959186,0.191664,0.207912]
2025-08-21T07:00:02.808Z,1755759602.808 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:02.808Z,1755759602.808 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:02.822Z,1755759602.822 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:02.823Z,1755759602.823 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:02.991Z,1755759602.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.599998 m,
      deltaT: 3.529425 s,
      deltaX: -1.800003 m,
      approachRate: -0.509999 m/s,
      rangeRepo size: 4

2025-08-21T07:00:02.997Z,1755759602.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 110.993576 m,
      bearing: 102.875824 deg,
      lat: 36.779335 deg,
      lon: -121.859444 deg,
      deltaT: 3.529425 s,
      deltaX: -1.790459 m,
      approachRate: -0.507295 m/s,
      posRepo size: 4

2025-08-21T07:00:02.998Z,1755759602.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m.
2025-08-21T07:00:03.005Z,1755759603.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.993576 m,
      nav range: 108.628395 m,
      bearing: 102.933891 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042234 deg/s,
      cmd heading: 93.620276 deg,
      new cmd heading: 93.686755 deg.

2025-08-21T07:00:03.006Z,1755759603.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.635142 target range: 110.993576 and range: 111.60 m.
2025-08-21T07:00:03.338Z,1755759603.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:03.340Z,1755759603.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m.
2025-08-21T07:00:03.343Z,1755759603.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.993576 m,
      nav range: 108.445038 m,
      bearing: 102.950367 deg,
      approach rate: -0.524037 m/s,
      LOS rate: 0.047168 deg/s,
      cmd heading: 93.686754 deg,
      new cmd heading: 93.736265 deg.

2025-08-21T07:00:03.344Z,1755759603.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636006 target range: 110.993576 and range: 111.60 m.
2025-08-21T07:00:03.553Z,1755759603.553 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:03.553Z,1755759603.553 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:03.553Z,1755759603.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:03.753Z,1755759603.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m.
2025-08-21T07:00:03.756Z,1755759603.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.993576 m,
      nav range: 108.236748 m,
      bearing: 102.968612 deg,
      approach rate: -0.504651 m/s,
      LOS rate: 0.044291 deg/s,
      cmd heading: 93.736266 deg,
      new cmd heading: 93.791109 deg.

2025-08-21T07:00:03.757Z,1755759603.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636964 target range: 110.993576 and range: 111.60 m.
2025-08-21T07:00:03.804Z,1755759603.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997420
2025-08-21T07:00:04.052Z,1755759604.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245956
2025-08-21T07:00:04.136Z,1755759604.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m.
2025-08-21T07:00:04.155Z,1755759604.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.993576 m,
      nav range: 108.043320 m,
      bearing: 102.985545 deg,
      approach rate: -0.504369 m/s,
      LOS rate: 0.044230 deg/s,
      cmd heading: 93.791106 deg,
      new cmd heading: 93.841994 deg.

2025-08-21T07:00:04.157Z,1755759604.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.637852 target range: 110.993576 and range: 111.60 m.
2025-08-21T07:00:04.304Z,1755759604.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498083
2025-08-21T07:00:04.556Z,1755759604.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750105
2025-08-21T07:00:04.573Z,1755759604.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m.
2025-08-21T07:00:04.576Z,1755759604.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.993576 m,
      nav range: 107.817215 m,
      bearing: 103.005666 deg,
      approach rate: -0.517812 m/s,
      LOS rate: 0.046177 deg/s,
      cmd heading: 93.841991 deg,
      new cmd heading: 93.902481 deg.

2025-08-21T07:00:04.577Z,1755759604.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.638907 target range: 110.993576 and range: 111.60 m.
2025-08-21T07:00:04.810Z,1755759604.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003534
2025-08-21T07:00:04.948Z,1755759604.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m.
2025-08-21T07:00:04.950Z,1755759604.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.993576 m,
      nav range: 107.623222 m,
      bearing: 103.022912 deg,
      approach rate: -0.518161 m/s,
      LOS rate: 0.046149 deg/s,
      cmd heading: 93.902479 deg,
      new cmd heading: 93.954311 deg.

2025-08-21T07:00:04.952Z,1755759604.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639812 target range: 110.993576 and range: 111.60 m.
2025-08-21T07:00:05.060Z,1755759605.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254293
2025-08-21T07:00:05.312Z,1755759605.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506019
2025-08-21T07:00:05.346Z,1755759605.346 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:05.348Z,1755759605.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m.
2025-08-21T07:00:05.351Z,1755759605.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.993576 m,
      nav range: 107.416031 m,
      bearing: 103.041226 deg,
      approach rate: -0.517094 m/s,
      LOS rate: 0.045794 deg/s,
      cmd heading: 93.954313 deg,
      new cmd heading: 94.009360 deg.

2025-08-21T07:00:05.364Z,1755759605.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.640773 target range: 110.993576 and range: 111.60 m.
2025-08-21T07:00:05.565Z,1755759605.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758413
2025-08-21T07:00:05.788Z,1755759605.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m.
2025-08-21T07:00:05.791Z,1755759605.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.993576 m,
      nav range: 107.187424 m,
      bearing: 103.061798 deg,
      approach rate: -0.519414 m/s,
      LOS rate: 0.046841 deg/s,
      cmd heading: 94.009358 deg,
      new cmd heading: 94.071205 deg.

2025-08-21T07:00:05.792Z,1755759605.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.641852 target range: 110.993576 and range: 111.60 m.
2025-08-21T07:00:05.816Z,1755759605.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010084
2025-08-21T07:00:06.068Z,1755759606.068 [DAT](INFO): DAT read: Rx Time:07:00:04.7223

2025-08-21T07:00:06.069Z,1755759606.069 [DAT](INFO): Rx dataTimestamp_ set to:1755759606.068433
2025-08-21T07:00:06.069Z,1755759606.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263106
2025-08-21T07:00:06.184Z,1755759606.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m.
2025-08-21T07:00:06.187Z,1755759606.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 110.993576 m,
      nav range: 106.981499 m,
      bearing: 103.080405 deg,
      approach rate: -0.519715 m/s,
      LOS rate: 0.047051 deg/s,
      cmd heading: 94.071205 deg,
      new cmd heading: 94.127134 deg.

2025-08-21T07:00:06.188Z,1755759606.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642828 target range: 110.993576 and range: 111.60 m.
2025-08-21T07:00:06.320Z,1755759606.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514128
2025-08-21T07:00:06.578Z,1755759606.578 [DAT](INFO): DAT read: 07:00:04.7223 LVL= 31616, 32753, 32754, 32755, AGC= 68, IDX= 423,-0.35, 2.628, 0.836, 2.442, 2.323, PHS= 0.408,-1.442, 0.075, RAW= 140.3,  11.2, CAL= 139.7,  12.2, ROT=  10.3, -12.2

2025-08-21T07:00:06.579Z,1755759606.579 [DAT](INFO): got valid direction response:
 07:00:04.7223 LVL= 31616, 32753, 32754, 32755, AGC= 68, IDX= 423,-0.35, 2.628, 0.836, 2.442, 2.323, PHS= 0.408,-1.442, 0.075, RAW= 140.3,  11.2, CAL= 139.7,  12.2, ROT=  10.3, -12.2

2025-08-21T07:00:06.580Z,1755759606.580 [DAT](INFO): DAT read: Bearing 259.2,  10.7 (Local)

2025-08-21T07:00:06.581Z,1755759606.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.2,  10.7 (Local)

2025-08-21T07:00:06.582Z,1755759606.582 [DAT](INFO): DAT read: Range 11 to 50 : 109.6 m  (Round-trip  146.2 ms) speed  0.4 m/s

2025-08-21T07:00:06.583Z,1755759606.583 [DAT](INFO): DAT read: user:2020>

2025-08-21T07:00:06.584Z,1755759606.583 [DAT](INFO): DAT read: Tx time:07:00:05.8219

2025-08-21T07:00:06.584Z,1755759606.584 [DAT](INFO): Ping request sent.
2025-08-21T07:00:06.584Z,1755759606.584 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:06.584Z,1755759606.584 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:06.585Z,1755759606.585 [DAT](INFO): direction in FSK: [0.961665,0.174764,0.211325]
2025-08-21T07:00:06.585Z,1755759606.585 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:06.586Z,1755759606.586 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:06.609Z,1755759606.609 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:06.609Z,1755759606.609 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:06.683Z,1755759606.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 109.599998 m,
      deltaT: 3.778668 s,
      deltaX: -2.000000 m,
      approachRate: -0.529287 m/s,
      rangeRepo size: 4

2025-08-21T07:00:06.685Z,1755759606.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.005051 m,
      bearing: 102.485711 deg,
      lat: 36.779336 deg,
      lon: -121.859444 deg,
      deltaT: 3.778668 s,
      deltaX: -1.988525 m,
      approachRate: -0.526250 m/s,
      posRepo size: 4

2025-08-21T07:00:06.686Z,1755759606.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m.
2025-08-21T07:00:06.689Z,1755759606.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.005051 m,
      nav range: 106.705032 m,
      bearing: 103.043855 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.047051 deg/s,
      cmd heading: 94.127137 deg,
      new cmd heading: 94.196850 deg.

2025-08-21T07:00:06.690Z,1755759606.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644045 target range: 109.005051 and range: 109.60 m.
2025-08-21T07:00:07.042Z,1755759607.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m.
2025-08-21T07:00:07.045Z,1755759607.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.005051 m,
      nav range: 106.489326 m,
      bearing: 103.063293 deg,
      approach rate: -0.592757 m/s,
      LOS rate: 0.053522 deg/s,
      cmd heading: 94.196846 deg,
      new cmd heading: 94.255276 deg.

2025-08-21T07:00:07.046Z,1755759607.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645065 target range: 109.005051 and range: 109.60 m.
2025-08-21T07:00:07.450Z,1755759607.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:07.456Z,1755759607.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m.
2025-08-21T07:00:07.459Z,1755759607.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.005051 m,
      nav range: 106.267197 m,
      bearing: 103.083393 deg,
      approach rate: -0.536487 m/s,
      LOS rate: 0.048648 deg/s,
      cmd heading: 94.255279 deg,
      new cmd heading: 94.315706 deg.

2025-08-21T07:00:07.460Z,1755759607.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646120 target range: 109.005051 and range: 109.60 m.
2025-08-21T07:00:07.581Z,1755759607.581 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:07.581Z,1755759607.581 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:07.581Z,1755759607.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:07.832Z,1755759607.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248502
2025-08-21T07:00:07.899Z,1755759607.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m.
2025-08-21T07:00:07.902Z,1755759607.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.005051 m,
      nav range: 106.023628 m,
      bearing: 103.108436 deg,
      approach rate: -0.549973 m/s,
      LOS rate: 0.056677 deg/s,
      cmd heading: 94.315705 deg,
      new cmd heading: 94.391007 deg.

2025-08-21T07:00:07.903Z,1755759607.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647434 target range: 109.005051 and range: 109.60 m.
2025-08-21T07:00:08.084Z,1755759608.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500347
2025-08-21T07:00:08.241Z,1755759608.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m.
2025-08-21T07:00:08.260Z,1755759608.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.005051 m,
      nav range: 105.835487 m,
      bearing: 103.127329 deg,
      approach rate: -0.550379 m/s,
      LOS rate: 0.055366 deg/s,
      cmd heading: 94.391008 deg,
      new cmd heading: 94.447787 deg.

2025-08-21T07:00:08.261Z,1755759608.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648425 target range: 109.005051 and range: 109.60 m.
2025-08-21T07:00:08.338Z,1755759608.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753738
2025-08-21T07:00:08.588Z,1755759608.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004281
2025-08-21T07:00:08.676Z,1755759608.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m.
2025-08-21T07:00:08.679Z,1755759608.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.005051 m,
      nav range: 105.602303 m,
      bearing: 103.150917 deg,
      approach rate: -0.535835 m/s,
      LOS rate: 0.054323 deg/s,
      cmd heading: 94.447788 deg,
      new cmd heading: 94.518709 deg.

2025-08-21T07:00:08.680Z,1755759608.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.649663 target range: 109.005051 and range: 109.60 m.
2025-08-21T07:00:08.840Z,1755759608.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256336
2025-08-21T07:00:09.092Z,1755759609.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508207
2025-08-21T07:00:09.189Z,1755759609.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m.
2025-08-21T07:00:09.192Z,1755759609.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.005051 m,
      nav range: 105.359413 m,
      bearing: 103.175104 deg,
      approach rate: -0.473427 m/s,
      LOS rate: 0.047252 deg/s,
      cmd heading: 94.518705 deg,
      new cmd heading: 94.591432 deg.

2025-08-21T07:00:09.193Z,1755759609.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.650932 target range: 109.005051 and range: 109.60 m.
2025-08-21T07:00:09.344Z,1755759609.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760460
2025-08-21T07:00:09.596Z,1755759609.596 [DAT](INFO): DAT read: Rx Time:07:00:08.3696

2025-08-21T07:00:09.597Z,1755759609.597 [DAT](INFO): Rx dataTimestamp_ set to:1755759609.596571
2025-08-21T07:00:09.597Z,1755759609.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013506
2025-08-21T07:00:09.634Z,1755759609.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:09.640Z,1755759609.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m.
2025-08-21T07:00:09.643Z,1755759609.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.005051 m,
      nav range: 105.098846 m,
      bearing: 103.201910 deg,
      approach rate: -0.577749 m/s,
      LOS rate: 0.059585 deg/s,
      cmd heading: 94.591433 deg,
      new cmd heading: 94.672053 deg.

2025-08-21T07:00:09.645Z,1755759609.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.652339 target range: 109.005051 and range: 109.60 m.
2025-08-21T07:00:09.851Z,1755759609.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267407
2025-08-21T07:00:09.995Z,1755759609.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.01 m.
2025-08-21T07:00:09.998Z,1755759609.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.005051 m,
      nav range: 104.892059 m,
      bearing: 103.222693 deg,
      approach rate: -0.582770 m/s,
      LOS rate: 0.058687 deg/s,
      cmd heading: 94.672050 deg,
      new cmd heading: 94.734523 deg.

2025-08-21T07:00:09.999Z,1755759609.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653429 target range: 109.005051 and range: 109.60 m.
2025-08-21T07:00:10.106Z,1755759610.106 [DAT](INFO): DAT read: 07:00:08.3696 LVL= 32112, 32753, 32754, 32755, AGC= 70, IDX= 411,-0.33,-0.141,-2.024,-0.269,-0.488, PHS= 0.449,-1.491, 0.175, RAW= 142.5,   9.6, CAL= 142.0,  10.5, ROT=   8.0, -10.5

2025-08-21T07:00:10.107Z,1755759610.107 [DAT](INFO): got valid direction response:
 07:00:08.3696 LVL= 32112, 32753, 32754, 32755, AGC= 70, IDX= 411,-0.33,-0.141,-2.024,-0.269,-0.488, PHS= 0.449,-1.491, 0.175, RAW= 142.5,   9.6, CAL= 142.0,  10.5, ROT=   8.0, -10.5

2025-08-21T07:00:10.108Z,1755759610.108 [DAT](INFO): DAT read: Bearing 259.2,   9.0 (Local)

2025-08-21T07:00:10.109Z,1755759610.109 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.2,   9.0 (Local)

2025-08-21T07:00:10.110Z,1755759610.110 [DAT](INFO): DAT read: Range 11 to 50 : 107.6 m  (Round-trip  143.5 ms) speed  0.4 m/s

2025-08-21T07:00:10.111Z,1755759610.111 [DAT](INFO): DAT read: user:2021>

2025-08-21T07:00:10.112Z,1755759610.112 [DAT](INFO): DAT read: Tx time:07:00:09.4719

2025-08-21T07:00:10.112Z,1755759610.112 [DAT](INFO): Ping request sent.
2025-08-21T07:00:10.112Z,1755759610.112 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:10.112Z,1755759610.112 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:10.113Z,1755759610.113 [DAT](INFO): direction in FSK: [0.973686,0.136843,0.182236]
2025-08-21T07:00:10.114Z,1755759610.114 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:10.114Z,1755759610.114 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:10.148Z,1755759610.148 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:10.149Z,1755759610.149 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:10.425Z,1755759610.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 107.599998 m,
      deltaT: 3.528051 s,
      deltaX: -2.000000 m,
      approachRate: -0.566885 m/s,
      rangeRepo size: 4

2025-08-21T07:00:10.428Z,1755759610.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 107.015953 m,
      bearing: 101.148650 deg,
      lat: 36.779346 deg,
      lon: -121.859441 deg,
      deltaT: 3.528051 s,
      deltaX: -1.989098 m,
      approachRate: -0.563795 m/s,
      posRepo size: 4

2025-08-21T07:00:10.429Z,1755759610.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m.
2025-08-21T07:00:10.431Z,1755759610.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.015953 m,
      nav range: 104.655457 m,
      bearing: 102.680435 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.058687 deg/s,
      cmd heading: 94.734526 deg,
      new cmd heading: 94.810138 deg.

2025-08-21T07:00:10.432Z,1755759610.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654749 target range: 107.015953 and range: 107.60 m.
2025-08-21T07:00:10.816Z,1755759610.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m.
2025-08-21T07:00:10.819Z,1755759610.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.015953 m,
      nav range: 104.436737 m,
      bearing: 102.699948 deg,
      approach rate: -0.558305 m/s,
      LOS rate: 0.049913 deg/s,
      cmd heading: 94.810136 deg,
      new cmd heading: 94.868797 deg.

2025-08-21T07:00:10.820Z,1755759610.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.655773 target range: 107.015953 and range: 107.60 m.
2025-08-21T07:00:11.210Z,1755759611.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m.
2025-08-21T07:00:11.213Z,1755759611.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.015953 m,
      nav range: 104.218040 m,
      bearing: 102.719390 deg,
      approach rate: -0.555108 m/s,
      LOS rate: 0.049453 deg/s,
      cmd heading: 94.868800 deg,
      new cmd heading: 94.927249 deg.

2025-08-21T07:00:11.214Z,1755759611.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656793 target range: 107.015953 and range: 107.60 m.
2025-08-21T07:00:11.648Z,1755759611.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:11.650Z,1755759611.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m.
2025-08-21T07:00:11.654Z,1755759611.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.015953 m,
      nav range: 103.986229 m,
      bearing: 102.738238 deg,
      approach rate: -0.526829 m/s,
      LOS rate: 0.042932 deg/s,
      cmd heading: 94.927246 deg,
      new cmd heading: 94.983918 deg.

2025-08-21T07:00:11.655Z,1755759611.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.657782 target range: 107.015953 and range: 107.60 m.
2025-08-21T07:00:11.865Z,1755759611.865 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:11.865Z,1755759611.865 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:11.866Z,1755759611.866 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:12.023Z,1755759612.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m.
2025-08-21T07:00:12.026Z,1755759612.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.015953 m,
      nav range: 103.789314 m,
      bearing: 102.754317 deg,
      approach rate: -0.528166 m/s,
      LOS rate: 0.043207 deg/s,
      cmd heading: 94.983916 deg,
      new cmd heading: 95.032243 deg.

2025-08-21T07:00:12.027Z,1755759612.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658625 target range: 107.015953 and range: 107.60 m.
2025-08-21T07:00:12.117Z,1755759612.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004684
2025-08-21T07:00:12.370Z,1755759612.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257315
2025-08-21T07:00:12.414Z,1755759612.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m.
2025-08-21T07:00:12.417Z,1755759612.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.015953 m,
      nav range: 103.583084 m,
      bearing: 102.770861 deg,
      approach rate: -0.527433 m/s,
      LOS rate: 0.042395 deg/s,
      cmd heading: 95.032240 deg,
      new cmd heading: 95.081971 deg.

2025-08-21T07:00:12.418Z,1755759612.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.659493 target range: 107.015953 and range: 107.60 m.
2025-08-21T07:00:12.620Z,1755759612.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508320
2025-08-21T07:00:12.852Z,1755759612.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m.
2025-08-21T07:00:12.857Z,1755759612.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.015953 m,
      nav range: 103.355659 m,
      bearing: 102.788258 deg,
      approach rate: -0.520067 m/s,
      LOS rate: 0.039873 deg/s,
      cmd heading: 95.081971 deg,
      new cmd heading: 95.134279 deg.

2025-08-21T07:00:12.859Z,1755759612.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660406 target range: 107.015953 and range: 107.60 m.
2025-08-21T07:00:12.873Z,1755759612.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760652
2025-08-21T07:00:13.127Z,1755759613.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014380
2025-08-21T07:00:13.288Z,1755759613.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m.
2025-08-21T07:00:13.290Z,1755759613.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.015953 m,
      nav range: 103.125511 m,
      bearing: 102.805796 deg,
      approach rate: -0.528390 m/s,
      LOS rate: 0.040353 deg/s,
      cmd heading: 95.134276 deg,
      new cmd heading: 95.187006 deg.

2025-08-21T07:00:13.292Z,1755759613.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.661327 target range: 107.015953 and range: 107.60 m.
2025-08-21T07:00:13.378Z,1755759613.378 [DAT](INFO): DAT read: Rx Time:07:00:12.0169

2025-08-21T07:00:13.378Z,1755759613.378 [DAT](INFO): Rx dataTimestamp_ set to:1755759613.377924
2025-08-21T07:00:13.379Z,1755759613.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266702
2025-08-21T07:00:13.628Z,1755759613.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516219
2025-08-21T07:00:13.756Z,1755759613.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:13.758Z,1755759613.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.02 m.
2025-08-21T07:00:13.765Z,1755759613.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 107.015953 m,
      nav range: 102.881516 m,
      bearing: 102.824780 deg,
      approach rate: -0.517509 m/s,
      LOS rate: 0.040360 deg/s,
      cmd heading: 95.187005 deg,
      new cmd heading: 95.244093 deg.

2025-08-21T07:00:13.766Z,1755759613.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662323 target range: 107.015953 and range: 107.60 m.
2025-08-21T07:00:13.890Z,1755759613.890 [DAT](INFO): DAT read: 07:00:12.0169 LVL= 30272, 32753, 29618, 32755, AGC= 68, IDX= 416, 0.16, 0.052,-1.793,-0.068,-0.308, PHS= 0.462,-1.441, 0.196, RAW= 142.6,   8.8, CAL= 142.1,   9.7, ROT=   7.9,  -9.7

2025-08-21T07:00:13.891Z,1755759613.891 [DAT](INFO): got valid direction response:
 07:00:12.0169 LVL= 30272, 32753, 29618, 32755, AGC= 68, IDX= 416, 0.16, 0.052,-1.793,-0.068,-0.308, PHS= 0.462,-1.441, 0.196, RAW= 142.6,   8.8, CAL= 142.1,   9.7, ROT=   7.9,  -9.7

2025-08-21T07:00:13.893Z,1755759613.893 [DAT](INFO): DAT read: Bearing 260.0,   9.3 (Local)

2025-08-21T07:00:13.893Z,1755759613.893 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.0,   9.3 (Local)

2025-08-21T07:00:13.895Z,1755759613.895 [DAT](INFO): DAT read: Range 11 to 50 : 105.7 m  (Round-trip  141.0 ms) speed  0.4 m/s

2025-08-21T07:00:13.897Z,1755759613.897 [DAT](INFO): DAT read: user:2022>

2025-08-21T07:00:13.897Z,1755759613.897 [DAT](INFO): DAT read: Tx time:07:00:13.1218

2025-08-21T07:00:13.898Z,1755759613.898 [DAT](INFO): Ping request sent.
2025-08-21T07:00:13.898Z,1755759613.898 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:13.898Z,1755759613.898 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:13.902Z,1755759613.902 [DAT](INFO): direction in FSK: [0.976349,0.135480,0.168489]
2025-08-21T07:00:13.902Z,1755759613.902 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:13.903Z,1755759613.903 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:13.928Z,1755759613.928 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:13.929Z,1755759613.929 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:14.106Z,1755759614.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.699997 m,
      deltaT: 3.781051 s,
      deltaX: -1.900002 m,
      approachRate: -0.502506 m/s,
      rangeRepo size: 4

2025-08-21T07:00:14.116Z,1755759614.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.125740 m,
      bearing: 101.935289 deg,
      lat: 36.779346 deg,
      lon: -121.859439 deg,
      deltaT: 3.781051 s,
      deltaX: -1.890213 m,
      approachRate: -0.499917 m/s,
      posRepo size: 4

2025-08-21T07:00:14.117Z,1755759614.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m.
2025-08-21T07:00:14.124Z,1755759614.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.125740 m,
      nav range: 102.859489 m,
      bearing: 102.773755 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.040360 deg/s,
      cmd heading: 95.244092 deg,
      new cmd heading: 95.286093 deg.

2025-08-21T07:00:14.125Z,1755759614.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663056 target range: 105.125740 and range: 105.70 m.
2025-08-21T07:00:14.463Z,1755759614.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m.
2025-08-21T07:00:14.465Z,1755759614.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.125740 m,
      nav range: 102.670532 m,
      bearing: 102.788183 deg,
      approach rate: -0.528996 m/s,
      LOS rate: 0.040467 deg/s,
      cmd heading: 95.286091 deg,
      new cmd heading: 95.329455 deg.

2025-08-21T07:00:14.466Z,1755759614.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663813 target range: 105.125740 and range: 105.70 m.
2025-08-21T07:00:14.903Z,1755759614.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m.
2025-08-21T07:00:14.906Z,1755759614.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.125740 m,
      nav range: 102.455032 m,
      bearing: 102.801157 deg,
      approach rate: -0.511992 m/s,
      LOS rate: 0.030889 deg/s,
      cmd heading: 95.329456 deg,
      new cmd heading: 95.368460 deg.

2025-08-21T07:00:14.907Z,1755759614.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664494 target range: 105.125740 and range: 105.70 m.
2025-08-21T07:00:15.240Z,1755759615.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m.
2025-08-21T07:00:15.243Z,1755759615.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.125740 m,
      nav range: 102.276726 m,
      bearing: 102.811861 deg,
      approach rate: -0.500885 m/s,
      LOS rate: 0.030123 deg/s,
      cmd heading: 95.368463 deg,
      new cmd heading: 95.400632 deg.

2025-08-21T07:00:15.244Z,1755759615.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665055 target range: 105.125740 and range: 105.70 m.
2025-08-21T07:00:15.702Z,1755759615.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m.
2025-08-21T07:00:15.705Z,1755759615.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.125740 m,
      nav range: 102.046021 m,
      bearing: 102.827107 deg,
      approach rate: -0.498500 m/s,
      LOS rate: 0.033017 deg/s,
      cmd heading: 95.400633 deg,
      new cmd heading: 95.446474 deg.

2025-08-21T07:00:15.706Z,1755759615.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665855 target range: 105.125740 and range: 105.70 m.
2025-08-21T07:00:16.046Z,1755759616.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:16.065Z,1755759616.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m.
2025-08-21T07:00:16.072Z,1755759616.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.125740 m,
      nav range: 101.873268 m,
      bearing: 102.838485 deg,
      approach rate: -0.476515 m/s,
      LOS rate: 0.031437 deg/s,
      cmd heading: 95.446477 deg,
      new cmd heading: 95.480668 deg.

2025-08-21T07:00:16.073Z,1755759616.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666452 target range: 105.125740 and range: 105.70 m.
2025-08-21T07:00:16.151Z,1755759616.151 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:16.151Z,1755759616.151 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:16.151Z,1755759616.151 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:16.400Z,1755759616.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502504
2025-08-21T07:00:16.453Z,1755759616.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m.
2025-08-21T07:00:16.456Z,1755759616.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.125740 m,
      nav range: 101.671570 m,
      bearing: 102.851739 deg,
      approach rate: -0.519049 m/s,
      LOS rate: 0.034177 deg/s,
      cmd heading: 95.480669 deg,
      new cmd heading: 95.520512 deg.

2025-08-21T07:00:16.457Z,1755759616.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667147 target range: 105.125740 and range: 105.70 m.
2025-08-21T07:00:16.658Z,1755759616.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759072
2025-08-21T07:00:16.897Z,1755759616.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m.
2025-08-21T07:00:16.900Z,1755759616.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.125740 m,
      nav range: 101.443573 m,
      bearing: 102.865280 deg,
      approach rate: -0.514243 m/s,
      LOS rate: 0.030610 deg/s,
      cmd heading: 95.520510 deg,
      new cmd heading: 95.561223 deg.

2025-08-21T07:00:16.901Z,1755759616.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667858 target range: 105.125740 and range: 105.70 m.
2025-08-21T07:00:16.912Z,1755759616.912 [DAT](INFO): DAT read: Rx Time:07:00:15.6645

2025-08-21T07:00:16.913Z,1755759616.913 [DAT](INFO): Rx dataTimestamp_ set to:1755759616.912465
2025-08-21T07:00:16.913Z,1755759616.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015568
2025-08-21T07:00:17.165Z,1755759617.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266999
2025-08-21T07:00:17.267Z,1755759617.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.13 m.
2025-08-21T07:00:17.270Z,1755759617.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.125740 m,
      nav range: 101.253456 m,
      bearing: 102.876559 deg,
      approach rate: -0.513797 m/s,
      LOS rate: 0.030538 deg/s,
      cmd heading: 95.561224 deg,
      new cmd heading: 95.595123 deg.

2025-08-21T07:00:17.272Z,1755759617.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668450 target range: 105.125740 and range: 105.70 m.
2025-08-21T07:00:17.425Z,1755759617.425 [DAT](INFO): DAT read: 07:00:15.6645 LVL= 28080, 32753, 30146, 32755, AGC= 68, IDX= 423, 0.45,-2.979, 1.470,-3.078, 2.973, PHS= 0.433,-1.459, 0.188, RAW= 143.1,   9.4, CAL= 142.7,  10.3, ROT=   7.3, -10.3

2025-08-21T07:00:17.426Z,1755759617.426 [DAT](INFO): got valid direction response:
 07:00:15.6645 LVL= 28080, 32753, 30146, 32755, AGC= 68, IDX= 423, 0.45,-2.979, 1.470,-3.078, 2.973, PHS= 0.433,-1.459, 0.188, RAW= 143.1,   9.4, CAL= 142.7,  10.3, ROT=   7.3, -10.3

2025-08-21T07:00:17.427Z,1755759617.427 [DAT](INFO): DAT read: Bearing 262.0,   9.0 (Local)

2025-08-21T07:00:17.428Z,1755759617.428 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.0,   9.0 (Local)

2025-08-21T07:00:17.429Z,1755759617.429 [DAT](INFO): DAT read: Range 11 to 50 : 103.8 m  (Round-trip  138.5 ms) speed  0.6 m/s

2025-08-21T07:00:17.430Z,1755759617.430 [DAT](INFO): DAT read: user:2023>

2025-08-21T07:00:17.431Z,1755759617.431 [DAT](INFO): DAT read: Tx time:07:00:16.7718

2025-08-21T07:00:17.431Z,1755759617.431 [DAT](INFO): Ping request sent.
2025-08-21T07:00:17.431Z,1755759617.431 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:17.439Z,1755759617.439 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:17.448Z,1755759617.448 [DAT](INFO): direction in FSK: [0.975910,0.125017,0.178802]
2025-08-21T07:00:17.448Z,1755759617.448 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:17.448Z,1755759617.448 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:17.452Z,1755759617.452 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:17.452Z,1755759617.452 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:17.744Z,1755759617.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.800003 m,
      deltaT: 3.534790 s,
      deltaX: -1.899994 m,
      approachRate: -0.537513 m/s,
      rangeRepo size: 4

2025-08-21T07:00:17.746Z,1755759617.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.236046 m,
      bearing: 101.813785 deg,
      lat: 36.779359 deg,
      lon: -121.859435 deg,
      deltaT: 3.534790 s,
      deltaX: -1.889694 m,
      approachRate: -0.534599 m/s,
      posRepo size: 4

2025-08-21T07:00:17.747Z,1755759617.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.24 m.
2025-08-21T07:00:17.749Z,1755759617.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.236046 m,
      nav range: 101.093987 m,
      bearing: 102.061900 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030538 deg/s,
      cmd heading: 95.595123 deg,
      new cmd heading: 95.638786 deg.

2025-08-21T07:00:17.750Z,1755759617.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669212 target range: 103.236046 and range: 103.80 m.
2025-08-21T07:00:18.118Z,1755759618.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:18.121Z,1755759618.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.24 m.
2025-08-21T07:00:18.124Z,1755759618.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.236046 m,
      nav range: 100.904480 m,
      bearing: 102.071191 deg,
      approach rate: -0.502317 m/s,
      LOS rate: 0.024673 deg/s,
      cmd heading: 95.638788 deg,
      new cmd heading: 95.666713 deg.

2025-08-21T07:00:18.125Z,1755759618.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669699 target range: 103.236046 and range: 103.80 m.
2025-08-21T07:00:18.173Z,1755759618.173 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:18.173Z,1755759618.173 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:18.174Z,1755759618.174 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:18.424Z,1755759618.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993260
2025-08-21T07:00:18.513Z,1755759618.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.24 m.
2025-08-21T07:00:18.517Z,1755759618.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.236046 m,
      nav range: 100.709328 m,
      bearing: 102.080786 deg,
      approach rate: -0.496973 m/s,
      LOS rate: 0.024483 deg/s,
      cmd heading: 95.666717 deg,
      new cmd heading: 95.695558 deg.

2025-08-21T07:00:18.518Z,1755759618.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670203 target range: 103.236046 and range: 103.80 m.
2025-08-21T07:00:18.680Z,1755759618.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248522
2025-08-21T07:00:18.928Z,1755759618.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497374
2025-08-21T07:00:18.938Z,1755759618.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.24 m.
2025-08-21T07:00:18.941Z,1755759618.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.236046 m,
      nav range: 100.494347 m,
      bearing: 102.091272 deg,
      approach rate: -0.506528 m/s,
      LOS rate: 0.024759 deg/s,
      cmd heading: 95.695561 deg,
      new cmd heading: 95.727086 deg.

2025-08-21T07:00:18.942Z,1755759618.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670753 target range: 103.236046 and range: 103.80 m.
2025-08-21T07:00:19.182Z,1755759619.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750793
2025-08-21T07:00:19.421Z,1755759619.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.24 m.
2025-08-21T07:00:19.424Z,1755759619.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.236046 m,
      nav range: 100.246765 m,
      bearing: 102.103402 deg,
      approach rate: -0.511886 m/s,
      LOS rate: 0.025141 deg/s,
      cmd heading: 95.727089 deg,
      new cmd heading: 95.763569 deg.

2025-08-21T07:00:19.425Z,1755759619.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671390 target range: 103.236046 and range: 103.80 m.
2025-08-21T07:00:19.432Z,1755759619.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001432
2025-08-21T07:00:19.687Z,1755759619.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255725
2025-08-21T07:00:19.866Z,1755759619.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.24 m.
2025-08-21T07:00:19.869Z,1755759619.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.236046 m,
      nav range: 100.013702 m,
      bearing: 102.115673 deg,
      approach rate: -0.524341 m/s,
      LOS rate: 0.027671 deg/s,
      cmd heading: 95.763569 deg,
      new cmd heading: 95.800468 deg.

2025-08-21T07:00:19.870Z,1755759619.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672034 target range: 103.236046 and range: 103.80 m.
2025-08-21T07:00:19.936Z,1755759619.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505408
2025-08-21T07:00:20.188Z,1755759620.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757264
2025-08-21T07:00:20.342Z,1755759620.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:20.347Z,1755759620.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.24 m.
2025-08-21T07:00:20.372Z,1755759620.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.236046 m,
      nav range: 99.766083 m,
      bearing: 102.128716 deg,
      approach rate: -0.515372 m/s,
      LOS rate: 0.027213 deg/s,
      cmd heading: 95.800466 deg,
      new cmd heading: 95.839691 deg.

2025-08-21T07:00:20.373Z,1755759620.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672718 target range: 103.236046 and range: 103.80 m.
2025-08-21T07:00:20.441Z,1755759620.441 [DAT](INFO): DAT read: Rx Time:07:00:19.3119

2025-08-21T07:00:20.442Z,1755759620.442 [DAT](INFO): Rx dataTimestamp_ set to:1755759620.441333
2025-08-21T07:00:20.443Z,1755759620.443 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011572
2025-08-21T07:00:20.696Z,1755759620.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264069
2025-08-21T07:00:20.780Z,1755759620.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.24 m.
2025-08-21T07:00:20.783Z,1755759620.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.236046 m,
      nav range: 99.529999 m,
      bearing: 102.142048 deg,
      approach rate: -0.544017 m/s,
      LOS rate: 0.030794 deg/s,
      cmd heading: 95.839691 deg,
      new cmd heading: 95.879781 deg.

2025-08-21T07:00:20.784Z,1755759620.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673418 target range: 103.236046 and range: 103.80 m.
2025-08-21T07:00:20.944Z,1755759620.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513273
2025-08-21T07:00:21.183Z,1755759621.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.24 m.
2025-08-21T07:00:21.186Z,1755759621.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.236046 m,
      nav range: 99.332367 m,
      bearing: 102.153257 deg,
      approach rate: -0.490566 m/s,
      LOS rate: 0.027879 deg/s,
      cmd heading: 95.879785 deg,
      new cmd heading: 95.913479 deg.

2025-08-21T07:00:21.187Z,1755759621.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.674006 target range: 103.236046 and range: 103.80 m.
2025-08-21T07:00:21.205Z,1755759621.205 [DAT](INFO): DAT read: 07:00:19.3119 LVL= 25632, 32753, 29010, 32755, AGC= 67, IDX= 412,-0.05, 2.502, 0.653, 2.385, 2.135, PHS= 0.469,-1.438, 0.206, RAW= 142.7,   8.6, CAL= 142.3,   9.4, ROT=   7.7,  -9.4

2025-08-21T07:00:21.206Z,1755759621.206 [DAT](INFO): got valid direction response:
 07:00:19.3119 LVL= 25632, 32753, 29010, 32755, AGC= 67, IDX= 412,-0.05, 2.502, 0.653, 2.385, 2.135, PHS= 0.469,-1.438, 0.206, RAW= 142.7,   8.6, CAL= 142.3,   9.4, ROT=   7.7,  -9.4

2025-08-21T07:00:21.216Z,1755759621.216 [DAT](INFO): DAT read: Bearing 262.2,   9.7 (Local)

2025-08-21T07:00:21.216Z,1755759621.216 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.2,   9.7 (Local)

2025-08-21T07:00:21.218Z,1755759621.218 [DAT](INFO): DAT read: Range 11 to 50 : 101.9 m  (Round-trip  135.9 ms) speed  0.5 m/s

2025-08-21T07:00:21.218Z,1755759621.218 [DAT](INFO): DAT read: user:2024>

2025-08-21T07:00:21.239Z,1755759621.239 [DAT](INFO): DAT read: Tx time:07:00:20.4218

2025-08-21T07:00:21.240Z,1755759621.240 [DAT](INFO): Ping request sent.
2025-08-21T07:00:21.240Z,1755759621.240 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:21.240Z,1755759621.240 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:21.241Z,1755759621.241 [DAT](INFO): direction in FSK: [0.977676,0.132187,0.163326]
2025-08-21T07:00:21.241Z,1755759621.241 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:21.241Z,1755759621.241 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:21.251Z,1755759621.251 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:21.251Z,1755759621.251 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:21.560Z,1755759621.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.900002 m,
      deltaT: 3.780076 s,
      deltaX: -1.900002 m,
      approachRate: -0.502636 m/s,
      rangeRepo size: 4

2025-08-21T07:00:21.562Z,1755759621.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 101.346062 m,
      bearing: 102.531592 deg,
      lat: 36.779359 deg,
      lon: -121.859433 deg,
      deltaT: 3.780076 s,
      deltaX: -1.889984 m,
      approachRate: -0.499986 m/s,
      posRepo size: 4

2025-08-21T07:00:21.562Z,1755759621.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.35 m.
2025-08-21T07:00:21.566Z,1755759621.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.346062 m,
      nav range: 99.276756 m,
      bearing: 102.145782 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.027879 deg/s,
      cmd heading: 95.913478 deg,
      new cmd heading: 95.944899 deg.

2025-08-21T07:00:21.566Z,1755759621.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.674554 target range: 101.346062 and range: 101.90 m.
2025-08-21T07:00:21.965Z,1755759621.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.35 m.
2025-08-21T07:00:21.968Z,1755759621.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.346062 m,
      nav range: 99.053711 m,
      bearing: 102.158088 deg,
      approach rate: -0.548545 m/s,
      LOS rate: 0.030333 deg/s,
      cmd heading: 95.944897 deg,
      new cmd heading: 95.981897 deg.

2025-08-21T07:00:21.969Z,1755759621.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.675200 target range: 101.346062 and range: 101.90 m.
2025-08-21T07:00:22.358Z,1755759622.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:22.360Z,1755759622.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.35 m.
2025-08-21T07:00:22.363Z,1755759622.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.346062 m,
      nav range: 98.839233 m,
      bearing: 102.169780 deg,
      approach rate: -0.543196 m/s,
      LOS rate: 0.029677 deg/s,
      cmd heading: 95.981896 deg,
      new cmd heading: 96.017049 deg.

2025-08-21T07:00:22.365Z,1755759622.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.675814 target range: 101.346062 and range: 101.90 m.
2025-08-21T07:00:22.457Z,1755759622.457 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:22.457Z,1755759622.457 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:22.458Z,1755759622.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:22.722Z,1755759622.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.470824
2025-08-21T07:00:22.793Z,1755759622.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.35 m.
2025-08-21T07:00:22.796Z,1755759622.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.346062 m,
      nav range: 98.597412 m,
      bearing: 102.184451 deg,
      approach rate: -0.558808 m/s,
      LOS rate: 0.033985 deg/s,
      cmd heading: 96.017051 deg,
      new cmd heading: 96.061171 deg.

2025-08-21T07:00:22.797Z,1755759622.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.676584 target range: 101.346062 and range: 101.90 m.
2025-08-21T07:00:22.960Z,1755759622.960 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.720670
2025-08-21T07:00:23.193Z,1755759623.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.35 m.
2025-08-21T07:00:23.200Z,1755759623.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.346062 m,
      nav range: 98.387955 m,
      bearing: 102.197068 deg,
      approach rate: -0.523742 m/s,
      LOS rate: 0.031614 deg/s,
      cmd heading: 96.061174 deg,
      new cmd heading: 96.099104 deg.

2025-08-21T07:00:23.201Z,1755759623.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677246 target range: 101.346062 and range: 101.90 m.
2025-08-21T07:00:23.212Z,1755759623.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972661
2025-08-21T07:00:23.464Z,1755759623.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224441
2025-08-21T07:00:23.579Z,1755759623.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.35 m.
2025-08-21T07:00:23.582Z,1755759623.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.346062 m,
      nav range: 98.166710 m,
      bearing: 102.210335 deg,
      approach rate: -0.573013 m/s,
      LOS rate: 0.034439 deg/s,
      cmd heading: 96.099102 deg,
      new cmd heading: 96.138994 deg.

2025-08-21T07:00:23.583Z,1755759623.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677942 target range: 101.346062 and range: 101.90 m.
2025-08-21T07:00:23.721Z,1755759623.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480645
2025-08-21T07:00:23.968Z,1755759623.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728672
2025-08-21T07:00:24.009Z,1755759624.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.35 m.
2025-08-21T07:00:24.012Z,1755759624.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.346062 m,
      nav range: 97.927246 m,
      bearing: 102.223882 deg,
      approach rate: -0.557044 m/s,
      LOS rate: 0.031590 deg/s,
      cmd heading: 96.138997 deg,
      new cmd heading: 96.179736 deg.

2025-08-21T07:00:24.013Z,1755759624.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.678653 target range: 101.346062 and range: 101.90 m.
2025-08-21T07:00:24.220Z,1755759624.220 [DAT](INFO): DAT read: Rx Time:07:00:22.9591

2025-08-21T07:00:24.221Z,1755759624.221 [DAT](INFO): Rx dataTimestamp_ set to:1755759624.220465
2025-08-21T07:00:24.221Z,1755759624.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981550
2025-08-21T07:00:24.374Z,1755759624.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:24.377Z,1755759624.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.35 m.
2025-08-21T07:00:24.380Z,1755759624.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 101.346062 m,
      nav range: 97.700989 m,
      bearing: 102.236513 deg,
      approach rate: -0.615233 m/s,
      LOS rate: 0.034426 deg/s,
      cmd heading: 96.179739 deg,
      new cmd heading: 96.217720 deg.

2025-08-21T07:00:24.381Z,1755759624.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.679316 target range: 101.346062 and range: 101.90 m.
2025-08-21T07:00:24.472Z,1755759624.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232627
2025-08-21T07:00:24.773Z,1755759624.773 [DAT](INFO): DAT read: 07:00:22.9591 LVL= 27088, 32753, 29154, 32755, AGC= 68, IDX= 416, 0.21, 0.261,-1.600, 0.174,-0.109, PHS= 0.472,-1.446, 0.239, RAW= 143.6,   8.2, CAL= 143.2,   8.9, ROT=   6.8,  -8.9

2025-08-21T07:00:24.774Z,1755759624.774 [DAT](INFO): got valid direction response:
 07:00:22.9591 LVL= 27088, 32753, 29154, 32755, AGC= 68, IDX= 416, 0.21, 0.261,-1.600, 0.174,-0.109, PHS= 0.472,-1.446, 0.239, RAW= 143.6,   8.2, CAL= 143.2,   8.9, ROT=   6.8,  -8.9

2025-08-21T07:00:24.775Z,1755759624.775 [DAT](INFO): DAT read: Bearing 262.7,   8.7 (Local)

2025-08-21T07:00:24.780Z,1755759624.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.7,   8.7 (Local)

2025-08-21T07:00:24.781Z,1755759624.781 [DAT](INFO): DAT read: Range 11 to 50 : 99.9 m  (Round-trip  133.2 ms) speed  0.4 m/s

2025-08-21T07:00:24.782Z,1755759624.782 [DAT](INFO): DAT read: user:2025>

2025-08-21T07:00:24.783Z,1755759624.783 [DAT](INFO): DAT read: Tx time:07:00:24.0718

2025-08-21T07:00:24.820Z,1755759624.820 [DAT](INFO): Ping request sent.
2025-08-21T07:00:24.820Z,1755759624.820 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:24.821Z,1755759624.821 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:24.822Z,1755759624.822 [DAT](INFO): direction in FSK: [0.981010,0.116978,0.154710]
2025-08-21T07:00:24.823Z,1755759624.823 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:24.828Z,1755759624.828 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:24.845Z,1755759624.845 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:24.845Z,1755759624.845 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:24.942Z,1755759624.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 99.900002 m,
      deltaT: 3.529502 s,
      deltaX: -2.000000 m,
      approachRate: -0.566652 m/s,
      rangeRepo size: 4

2025-08-21T07:00:24.948Z,1755759624.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 99.356819 m,
      bearing: 102.203496 deg,
      lat: 36.779359 deg,
      lon: -121.859432 deg,
      deltaT: 3.529502 s,
      deltaX: -1.989243 m,
      approachRate: -0.563604 m/s,
      posRepo size: 4

2025-08-21T07:00:24.949Z,1755759624.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m.
2025-08-21T07:00:24.956Z,1755759624.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.356819 m,
      nav range: 97.441025 m,
      bearing: 102.229056 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034426 deg/s,
      cmd heading: 96.217722 deg,
      new cmd heading: 96.276032 deg.

2025-08-21T07:00:24.957Z,1755759624.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.680334 target range: 99.356819 and range: 99.90 m.
2025-08-21T07:00:25.302Z,1755759625.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m.
2025-08-21T07:00:25.305Z,1755759625.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.356819 m,
      nav range: 97.240746 m,
      bearing: 102.240639 deg,
      approach rate: -0.555797 m/s,
      LOS rate: 0.032209 deg/s,
      cmd heading: 96.276031 deg,
      new cmd heading: 96.310851 deg.

2025-08-21T07:00:25.306Z,1755759625.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.680941 target range: 99.356819 and range: 99.90 m.
2025-08-21T07:00:25.704Z,1755759625.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m.
2025-08-21T07:00:25.711Z,1755759625.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.356819 m,
      nav range: 97.013901 m,
      bearing: 102.253695 deg,
      approach rate: -0.563251 m/s,
      LOS rate: 0.032493 deg/s,
      cmd heading: 96.310851 deg,
      new cmd heading: 96.350111 deg.

2025-08-21T07:00:25.712Z,1755759625.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681627 target range: 99.356819 and range: 99.90 m.
2025-08-21T07:00:26.133Z,1755759626.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m.
2025-08-21T07:00:26.136Z,1755759626.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.356819 m,
      nav range: 96.767128 m,
      bearing: 102.265663 deg,
      approach rate: -0.575601 m/s,
      LOS rate: 0.027987 deg/s,
      cmd heading: 96.350111 deg,
      new cmd heading: 96.386107 deg.

2025-08-21T07:00:26.137Z,1755759626.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.682255 target range: 99.356819 and range: 99.90 m.
2025-08-21T07:00:26.492Z,1755759626.492 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:00:26.534Z,1755759626.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:26.537Z,1755759626.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m.
2025-08-21T07:00:26.540Z,1755759626.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.356819 m,
      nav range: 96.542702 m,
      bearing: 102.276601 deg,
      approach rate: -0.556023 m/s,
      LOS rate: 0.027161 deg/s,
      cmd heading: 96.386106 deg,
      new cmd heading: 96.418995 deg.

2025-08-21T07:00:26.541Z,1755759626.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.682829 target range: 99.356819 and range: 99.90 m.
2025-08-21T07:00:26.743Z,1755759626.743 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:26.744Z,1755759626.744 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:26.744Z,1755759626.744 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:26.942Z,1755759626.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m.
2025-08-21T07:00:26.945Z,1755759626.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.356819 m,
      nav range: 96.321602 m,
      bearing: 102.286566 deg,
      approach rate: -0.546225 m/s,
      LOS rate: 0.024676 deg/s,
      cmd heading: 96.418994 deg,
      new cmd heading: 96.448958 deg.

2025-08-21T07:00:26.945Z,1755759626.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.683352 target range: 99.356819 and range: 99.90 m.
2025-08-21T07:00:26.992Z,1755759626.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.172414
2025-08-21T07:00:27.244Z,1755759627.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.424222
2025-08-21T07:00:27.403Z,1755759627.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m.
2025-08-21T07:00:27.405Z,1755759627.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.356819 m,
      nav range: 96.069664 m,
      bearing: 102.297951 deg,
      approach rate: -0.546301 m/s,
      LOS rate: 0.024753 deg/s,
      cmd heading: 96.448958 deg,
      new cmd heading: 96.483203 deg.

2025-08-21T07:00:27.406Z,1755759627.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.683950 target range: 99.356819 and range: 99.90 m.
2025-08-21T07:00:27.497Z,1755759627.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.676807
2025-08-21T07:00:27.498Z,1755759627.498 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:00:27.743Z,1755759627.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m.
2025-08-21T07:00:27.745Z,1755759627.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.356819 m,
      nav range: 95.884148 m,
      bearing: 102.306325 deg,
      approach rate: -0.545911 m/s,
      LOS rate: 0.024690 deg/s,
      cmd heading: 96.483204 deg,
      new cmd heading: 96.508376 deg.

2025-08-21T07:00:27.746Z,1755759627.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.684389 target range: 99.356819 and range: 99.90 m.
2025-08-21T07:00:27.748Z,1755759627.748 [DAT](INFO): DAT read: Rx Time:07:00:26.6067

2025-08-21T07:00:27.749Z,1755759627.749 [DAT](INFO): Rx dataTimestamp_ set to:1755759627.748609
2025-08-21T07:00:27.749Z,1755759627.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.929455
2025-08-21T07:00:28.000Z,1755759628.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.180206
2025-08-21T07:00:28.208Z,1755759628.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.36 m.
2025-08-21T07:00:28.210Z,1755759628.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 99.356819 m,
      nav range: 95.645302 m,
      bearing: 102.316610 deg,
      approach rate: -0.513685 m/s,
      LOS rate: 0.022174 deg/s,
      cmd heading: 96.508374 deg,
      new cmd heading: 96.539304 deg.

2025-08-21T07:00:28.212Z,1755759628.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.684929 target range: 99.356819 and range: 99.90 m.
2025-08-21T07:00:28.253Z,1755759628.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.433267
2025-08-21T07:00:28.510Z,1755759628.510 [DAT](INFO): DAT read: 07:00:26.6067 LVL= 24800, 30449, 27954, 32755, AGC= 66, IDX= 423,-0.21,-0.479,-2.297,-0.564,-0.821, PHS= 0.444,-1.431, 0.213, RAW= 143.5,   8.8, CAL= 143.1,   9.6, ROT=   6.9,  -9.6

2025-08-21T07:00:28.511Z,1755759628.511 [DAT](INFO): got valid direction response:
 07:00:26.6067 LVL= 24800, 30449, 27954, 32755, AGC= 66, IDX= 423,-0.21,-0.479,-2.297,-0.564,-0.821, PHS= 0.444,-1.431, 0.213, RAW= 143.5,   8.8, CAL= 143.1,   9.6, ROT=   6.9,  -9.6

2025-08-21T07:00:28.512Z,1755759628.512 [DAT](INFO): DAT read: Bearing 264.4,   8.8 (Local)

2025-08-21T07:00:28.513Z,1755759628.513 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.4,   8.8 (Local)

2025-08-21T07:00:28.514Z,1755759628.514 [DAT](INFO): DAT read: Range 11 to 50 : 98.0 m  (Round-trip  130.7 ms) speed  0.4 m/s

2025-08-21T07:00:28.515Z,1755759628.515 [DAT](INFO): DAT read: user:2026>

2025-08-21T07:00:28.516Z,1755759628.516 [DAT](INFO): DAT read: Tx time:07:00:27.7218

2025-08-21T07:00:28.516Z,1755759628.516 [DAT](INFO): Ping request sent.
2025-08-21T07:00:28.516Z,1755759628.516 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:28.516Z,1755759628.516 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:28.517Z,1755759628.517 [DAT](INFO): direction in FSK: [0.978855,0.118454,0.166769]
2025-08-21T07:00:28.517Z,1755759628.517 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:28.518Z,1755759628.518 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:28.521Z,1755759628.521 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:28.521Z,1755759628.521 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:28.658Z,1755759628.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 98.000000 m,
      deltaT: 3.778532 s,
      deltaX: -1.900002 m,
      approachRate: -0.502841 m/s,
      rangeRepo size: 4

2025-08-21T07:00:28.664Z,1755759628.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 97.466415 m,
      bearing: 102.677079 deg,
      lat: 36.779359 deg,
      lon: -121.859432 deg,
      deltaT: 3.778532 s,
      deltaX: -1.890404 m,
      approachRate: -0.500301 m/s,
      posRepo size: 4

2025-08-21T07:00:28.665Z,1755759628.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.47 m.
2025-08-21T07:00:28.679Z,1755759628.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.466415 m,
      nav range: 95.432236 m,
      bearing: 102.344552 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022174 deg/s,
      cmd heading: 96.539301 deg,
      new cmd heading: 96.569213 deg.

2025-08-21T07:00:28.680Z,1755759628.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.685451 target range: 97.466415 and range: 98.00 m.
2025-08-21T07:00:28.982Z,1755759628.982 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,+0.00,        +0.00,        +0.00
2025-08-21T07:00:28.995Z,1755759628.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:28.997Z,1755759628.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.47 m.
2025-08-21T07:00:29.008Z,1755759629.008 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:29.008Z,1755759629.008 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:29.009Z,1755759629.009 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:29.020Z,1755759629.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.466415 m,
      nav range: 95.237976 m,
      bearing: 102.353041 deg,
      approach rate: -0.570749 m/s,
      LOS rate: 0.024991 deg/s,
      cmd heading: 96.569210 deg,
      new cmd heading: 96.594728 deg.

2025-08-21T07:00:29.021Z,1755759629.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.685896 target range: 97.466415 and range: 98.00 m.
2025-08-21T07:00:29.260Z,1755759629.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744348
2025-08-21T07:00:29.398Z,1755759629.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.47 m.
2025-08-21T07:00:29.401Z,1755759629.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.466415 m,
      nav range: 95.028534 m,
      bearing: 102.362261 deg,
      approach rate: -0.522380 m/s,
      LOS rate: 0.023049 deg/s,
      cmd heading: 96.594728 deg,
      new cmd heading: 96.622451 deg.

2025-08-21T07:00:29.402Z,1755759629.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.686380 target range: 97.466415 and range: 98.00 m.
2025-08-21T07:00:29.515Z,1755759629.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998792
2025-08-21T07:00:29.764Z,1755759629.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248250
2025-08-21T07:00:29.825Z,1755759629.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.47 m.
2025-08-21T07:00:29.852Z,1755759629.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.466415 m,
      nav range: 94.820198 m,
      bearing: 102.371501 deg,
      approach rate: -0.510262 m/s,
      LOS rate: 0.022679 deg/s,
      cmd heading: 96.622451 deg,
      new cmd heading: 96.650231 deg.

2025-08-21T07:00:29.860Z,1755759629.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.686865 target range: 97.466415 and range: 98.00 m.
2025-08-21T07:00:30.016Z,1755759630.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500305
2025-08-21T07:00:30.235Z,1755759630.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.47 m.
2025-08-21T07:00:30.262Z,1755759630.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.466415 m,
      nav range: 94.597443 m,
      bearing: 102.380029 deg,
      approach rate: -0.520695 m/s,
      LOS rate: 0.019982 deg/s,
      cmd heading: 96.650230 deg,
      new cmd heading: 96.675875 deg.

2025-08-21T07:00:30.262Z,1755759630.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.687312 target range: 97.466415 and range: 98.00 m.
2025-08-21T07:00:30.268Z,1755759630.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752378
2025-08-21T07:00:30.520Z,1755759630.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004205
2025-08-21T07:00:30.605Z,1755759630.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.47 m.
2025-08-21T07:00:30.608Z,1755759630.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.466415 m,
      nav range: 94.408417 m,
      bearing: 102.387345 deg,
      approach rate: -0.509774 m/s,
      LOS rate: 0.019768 deg/s,
      cmd heading: 96.675877 deg,
      new cmd heading: 96.697868 deg.

2025-08-21T07:00:30.609Z,1755759630.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.687696 target range: 97.466415 and range: 98.00 m.
2025-08-21T07:00:30.772Z,1755759630.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256314
2025-08-21T07:00:31.025Z,1755759631.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508642
2025-08-21T07:00:31.044Z,1755759631.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:31.046Z,1755759631.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.47 m.
2025-08-21T07:00:31.053Z,1755759631.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.466415 m,
      nav range: 94.190895 m,
      bearing: 102.397492 deg,
      approach rate: -0.493728 m/s,
      LOS rate: 0.023086 deg/s,
      cmd heading: 96.697870 deg,
      new cmd heading: 96.728383 deg.

2025-08-21T07:00:31.054Z,1755759631.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.688229 target range: 97.466415 and range: 98.00 m.
2025-08-21T07:00:31.276Z,1755759631.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760214
2025-08-21T07:00:31.429Z,1755759631.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.47 m.
2025-08-21T07:00:31.448Z,1755759631.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.466415 m,
      nav range: 93.981880 m,
      bearing: 102.407248 deg,
      approach rate: -0.545745 m/s,
      LOS rate: 0.025530 deg/s,
      cmd heading: 96.728381 deg,
      new cmd heading: 96.757714 deg.

2025-08-21T07:00:31.449Z,1755759631.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.688741 target range: 97.466415 and range: 98.00 m.
2025-08-21T07:00:31.529Z,1755759631.529 [DAT](INFO): DAT read: Rx Time:07:00:30.2541

2025-08-21T07:00:31.529Z,1755759631.529 [DAT](INFO): Rx dataTimestamp_ set to:1755759631.528745
2025-08-21T07:00:31.530Z,1755759631.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013641
2025-08-21T07:00:31.780Z,1755759631.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264242
2025-08-21T07:00:31.907Z,1755759631.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.47 m.
2025-08-21T07:00:31.909Z,1755759631.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.466415 m,
      nav range: 93.734718 m,
      bearing: 102.418789 deg,
      approach rate: -0.517288 m/s,
      LOS rate: 0.024217 deg/s,
      cmd heading: 96.757717 deg,
      new cmd heading: 96.792429 deg.

2025-08-21T07:00:31.910Z,1755759631.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.689347 target range: 97.466415 and range: 98.00 m.
2025-08-21T07:00:32.040Z,1755759632.040 [DAT](INFO): DAT read: 07:00:30.2541 LVL= 25728, 32737, 27506, 32755, AGC= 63, IDX= 413,-0.12, 2.416, 0.635, 2.318, 2.079, PHS= 0.439,-1.399, 0.196, RAW= 143.0,   8.9, CAL= 142.6,   9.7, ROT=   7.4,  -9.7

2025-08-21T07:00:32.041Z,1755759632.041 [DAT](INFO): got valid direction response:
 07:00:30.2541 LVL= 25728, 32737, 27506, 32755, AGC= 63, IDX= 413,-0.12, 2.416, 0.635, 2.318, 2.079, PHS= 0.439,-1.399, 0.196, RAW= 143.0,   8.9, CAL= 142.6,   9.7, ROT=   7.4,  -9.7

2025-08-21T07:00:32.042Z,1755759632.042 [DAT](INFO): DAT read: Bearing 265.1,   9.0 (Local)

2025-08-21T07:00:32.042Z,1755759632.042 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.1,   9.0 (Local)

2025-08-21T07:00:32.044Z,1755759632.044 [DAT](INFO): DAT read: Range 11 to 50 : 96.1 m  (Round-trip  128.2 ms) speed  0.6 m/s

2025-08-21T07:00:32.045Z,1755759632.045 [DAT](INFO): DAT read: user:2027>

2025-08-21T07:00:32.045Z,1755759632.045 [DAT](INFO): DAT read: Tx time:07:00:31.3718

2025-08-21T07:00:32.046Z,1755759632.046 [DAT](INFO): Ping request sent.
2025-08-21T07:00:32.046Z,1755759632.046 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:32.046Z,1755759632.046 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:32.047Z,1755759632.047 [DAT](INFO): direction in FSK: [0.977494,0.126954,0.168489]
2025-08-21T07:00:32.054Z,1755759632.054 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:32.054Z,1755759632.054 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:32.062Z,1755759632.062 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:32.062Z,1755759632.062 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:32.355Z,1755759632.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.099998 m,
      deltaT: 3.528484 s,
      deltaX: -1.900002 m,
      approachRate: -0.538475 m/s,
      rangeRepo size: 4

2025-08-21T07:00:32.357Z,1755759632.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.577095 m,
      bearing: 103.153259 deg,
      lat: 36.779354 deg,
      lon: -121.859432 deg,
      deltaT: 3.528484 s,
      deltaX: -1.889320 m,
      approachRate: -0.535448 m/s,
      posRepo size: 4

2025-08-21T07:00:32.358Z,1755759632.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-08-21T07:00:32.361Z,1755759632.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.577095 m,
      nav range: 93.679115 m,
      bearing: 102.767442 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024217 deg/s,
      cmd heading: 96.792428 deg,
      new cmd heading: 96.824944 deg.

2025-08-21T07:00:32.361Z,1755759632.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.689914 target range: 95.577095 and range: 96.10 m.
2025-08-21T07:00:32.731Z,1755759632.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-08-21T07:00:32.734Z,1755759632.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.577095 m,
      nav range: 93.479080 m,
      bearing: 102.775797 deg,
      approach rate: -0.530584 m/s,
      LOS rate: 0.022208 deg/s,
      cmd heading: 96.824946 deg,
      new cmd heading: 96.850064 deg.

2025-08-21T07:00:32.740Z,1755759632.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.690353 target range: 95.577095 and range: 96.10 m.
2025-08-21T07:00:33.134Z,1755759633.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:33.156Z,1755759633.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-08-21T07:00:33.165Z,1755759633.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.577095 m,
      nav range: 93.268509 m,
      bearing: 102.784279 deg,
      approach rate: -0.495671 m/s,
      LOS rate: 0.020010 deg/s,
      cmd heading: 96.850068 deg,
      new cmd heading: 96.875570 deg.

2025-08-21T07:00:33.167Z,1755759633.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.690798 target range: 95.577095 and range: 96.10 m.
2025-08-21T07:00:33.293Z,1755759633.293 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:33.293Z,1755759633.293 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:33.294Z,1755759633.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:33.533Z,1755759633.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-08-21T07:00:33.544Z,1755759633.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498672
2025-08-21T07:00:33.560Z,1755759633.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.577095 m,
      nav range: 93.061951 m,
      bearing: 102.792534 deg,
      approach rate: -0.547852 m/s,
      LOS rate: 0.021943 deg/s,
      cmd heading: 96.875571 deg,
      new cmd heading: 96.900391 deg.

2025-08-21T07:00:33.561Z,1755759633.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.691231 target range: 95.577095 and range: 96.10 m.
2025-08-21T07:00:33.797Z,1755759633.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751245
2025-08-21T07:00:34.003Z,1755759634.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-08-21T07:00:34.006Z,1755759634.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.577095 m,
      nav range: 92.811531 m,
      bearing: 102.805911 deg,
      approach rate: -0.533232 m/s,
      LOS rate: 0.028562 deg/s,
      cmd heading: 96.900392 deg,
      new cmd heading: 96.940633 deg.

2025-08-21T07:00:34.007Z,1755759634.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.691933 target range: 95.577095 and range: 96.10 m.
2025-08-21T07:00:34.049Z,1755759634.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002772
2025-08-21T07:00:34.301Z,1755759634.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255116
2025-08-21T07:00:34.369Z,1755759634.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-08-21T07:00:34.375Z,1755759634.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.577095 m,
      nav range: 92.622787 m,
      bearing: 102.815874 deg,
      approach rate: -0.515914 m/s,
      LOS rate: 0.027286 deg/s,
      cmd heading: 96.940636 deg,
      new cmd heading: 96.970584 deg.

2025-08-21T07:00:34.376Z,1755759634.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.692456 target range: 95.577095 and range: 96.10 m.
2025-08-21T07:00:34.552Z,1755759634.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506543
2025-08-21T07:00:34.766Z,1755759634.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-08-21T07:00:34.769Z,1755759634.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.577095 m,
      nav range: 92.404404 m,
      bearing: 102.827359 deg,
      approach rate: -0.549371 m/s,
      LOS rate: 0.028960 deg/s,
      cmd heading: 96.970586 deg,
      new cmd heading: 97.005123 deg.

2025-08-21T07:00:34.770Z,1755759634.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.693059 target range: 95.577095 and range: 96.10 m.
2025-08-21T07:00:34.806Z,1755759634.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759882
2025-08-21T07:00:35.057Z,1755759635.057 [DAT](INFO): DAT read: Rx Time:07:00:33.9014

2025-08-21T07:00:35.057Z,1755759635.057 [DAT](INFO): Rx dataTimestamp_ set to:1755759635.056901
2025-08-21T07:00:35.058Z,1755759635.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012127
2025-08-21T07:00:35.191Z,1755759635.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:35.193Z,1755759635.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-08-21T07:00:35.212Z,1755759635.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.577095 m,
      nav range: 92.172935 m,
      bearing: 102.838483 deg,
      approach rate: -0.542057 m/s,
      LOS rate: 0.026116 deg/s,
      cmd heading: 97.005120 deg,
      new cmd heading: 97.038576 deg.

2025-08-21T07:00:35.213Z,1755759635.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.693643 target range: 95.577095 and range: 96.10 m.
2025-08-21T07:00:35.310Z,1755759635.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263968
2025-08-21T07:00:35.563Z,1755759635.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516855
2025-08-21T07:00:35.648Z,1755759635.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.58 m.
2025-08-21T07:00:35.651Z,1755759635.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.577095 m,
      nav range: 91.932762 m,
      bearing: 102.849697 deg,
      approach rate: -0.527981 m/s,
      LOS rate: 0.024716 deg/s,
      cmd heading: 97.038574 deg,
      new cmd heading: 97.072303 deg.

2025-08-21T07:00:35.656Z,1755759635.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.694231 target range: 95.577095 and range: 96.10 m.
2025-08-21T07:00:35.818Z,1755759635.818 [DAT](INFO): DAT read: 07:00:33.9014 LVL= 25872, 31729, 29874, 32755, AGC= 66, IDX= 417,-0.03,-1.106,-2.891,-1.165,-1.449, PHS= 0.445,-1.397, 0.240, RAW= 144.2,   8.2, CAL= 143.7,   9.0, ROT=   6.3,  -9.0

2025-08-21T07:00:35.820Z,1755759635.820 [DAT](INFO): got valid direction response:
 07:00:33.9014 LVL= 25872, 31729, 29874, 32755, AGC= 66, IDX= 417,-0.03,-1.106,-2.891,-1.165,-1.449, PHS= 0.445,-1.397, 0.240, RAW= 144.2,   8.2, CAL= 143.7,   9.0, ROT=   6.3,  -9.0

2025-08-21T07:00:35.821Z,1755759635.821 [DAT](INFO): DAT read: Bearing 265.0,   7.6 (Local)

2025-08-21T07:00:35.821Z,1755759635.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.0,   7.6 (Local)

2025-08-21T07:00:35.822Z,1755759635.822 [DAT](INFO): DAT read: Range 11 to 50 : 94.0 m  (Round-trip  125.4 ms) speed  0.6 m/s

2025-08-21T07:00:35.823Z,1755759635.823 [DAT](INFO): DAT read: user:2028>

2025-08-21T07:00:35.824Z,1755759635.824 [DAT](INFO): DAT read: Tx time:07:00:35.0218

2025-08-21T07:00:35.824Z,1755759635.824 [DAT](INFO): Ping request sent.
2025-08-21T07:00:35.824Z,1755759635.824 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:35.824Z,1755759635.824 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:35.825Z,1755759635.825 [DAT](INFO): direction in FSK: [0.981724,0.108383,0.156434]
2025-08-21T07:00:35.826Z,1755759635.826 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:35.826Z,1755759635.826 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:35.829Z,1755759635.829 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:35.829Z,1755759635.829 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:36.096Z,1755759636.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.000000 m,
      deltaT: 3.780042 s,
      deltaX: -2.099998 m,
      approachRate: -0.555549 m/s,
      rangeRepo size: 4

2025-08-21T07:00:36.098Z,1755759636.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.488625 m,
      bearing: 102.468653 deg,
      lat: 36.779354 deg,
      lon: -121.859432 deg,
      deltaT: 3.780042 s,
      deltaX: -2.088470 m,
      approachRate: -0.552499 m/s,
      posRepo size: 4

2025-08-21T07:00:36.099Z,1755759636.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.49 m.
2025-08-21T07:00:36.106Z,1755759636.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.488625 m,
      nav range: 91.699730 m,
      bearing: 102.861403 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024716 deg/s,
      cmd heading: 97.072301 deg,
      new cmd heading: 97.105176 deg.

2025-08-21T07:00:36.106Z,1755759636.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.694805 target range: 93.488625 and range: 94.00 m.
2025-08-21T07:00:36.565Z,1755759636.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.49 m.
2025-08-21T07:00:36.569Z,1755759636.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.488625 m,
      nav range: 91.441849 m,
      bearing: 102.874821 deg,
      approach rate: -0.544270 m/s,
      LOS rate: 0.028400 deg/s,
      cmd heading: 97.105175 deg,
      new cmd heading: 97.145544 deg.

2025-08-21T07:00:36.570Z,1755759636.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.695510 target range: 93.488625 and range: 94.00 m.
2025-08-21T07:00:36.999Z,1755759636.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.49 m.
2025-08-21T07:00:37.002Z,1755759637.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.488625 m,
      nav range: 91.193306 m,
      bearing: 102.893114 deg,
      approach rate: -0.573542 m/s,
      LOS rate: 0.042328 deg/s,
      cmd heading: 97.145542 deg,
      new cmd heading: 97.200570 deg.

2025-08-21T07:00:37.002Z,1755759637.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.696470 target range: 93.488625 and range: 94.00 m.
2025-08-21T07:00:37.406Z,1755759637.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:37.409Z,1755759637.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.49 m.
2025-08-21T07:00:37.411Z,1755759637.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.488625 m,
      nav range: 90.966415 m,
      bearing: 102.909676 deg,
      approach rate: -0.553227 m/s,
      LOS rate: 0.040483 deg/s,
      cmd heading: 97.200572 deg,
      new cmd heading: 97.250381 deg.

2025-08-21T07:00:37.412Z,1755759637.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.697339 target range: 93.488625 and range: 94.00 m.
2025-08-21T07:00:37.576Z,1755759637.576 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:37.577Z,1755759637.577 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:37.577Z,1755759637.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:37.824Z,1755759637.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.49 m.
2025-08-21T07:00:37.827Z,1755759637.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.488625 m,
      nav range: 90.735802 m,
      bearing: 102.926473 deg,
      approach rate: -0.555068 m/s,
      LOS rate: 0.040532 deg/s,
      cmd heading: 97.250378 deg,
      new cmd heading: 97.300897 deg.

2025-08-21T07:00:37.828Z,1755759637.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004148
2025-08-21T07:00:37.830Z,1755759637.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.698221 target range: 93.488625 and range: 94.00 m.
2025-08-21T07:00:38.081Z,1755759638.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256450
2025-08-21T07:00:38.228Z,1755759638.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.49 m.
2025-08-21T07:00:38.231Z,1755759638.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.488625 m,
      nav range: 90.511765 m,
      bearing: 102.940046 deg,
      approach rate: -0.554674 m/s,
      LOS rate: 0.033687 deg/s,
      cmd heading: 97.300894 deg,
      new cmd heading: 97.341714 deg.

2025-08-21T07:00:38.232Z,1755759638.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.698933 target range: 93.488625 and range: 94.00 m.
2025-08-21T07:00:38.332Z,1755759638.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508162
2025-08-21T07:00:38.584Z,1755759638.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760078
2025-08-21T07:00:38.613Z,1755759638.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.49 m.
2025-08-21T07:00:38.616Z,1755759638.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.488625 m,
      nav range: 90.298332 m,
      bearing: 102.952971 deg,
      approach rate: -0.553817 m/s,
      LOS rate: 0.033617 deg/s,
      cmd heading: 97.341711 deg,
      new cmd heading: 97.380578 deg.

2025-08-21T07:00:38.617Z,1755759638.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.699612 target range: 93.488625 and range: 94.00 m.
2025-08-21T07:00:38.836Z,1755759638.836 [DAT](INFO): DAT read: Rx Time:07:00:37.5489

2025-08-21T07:00:38.837Z,1755759638.837 [DAT](INFO): Rx dataTimestamp_ set to:1755759638.836413
2025-08-21T07:00:38.837Z,1755759638.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013082
2025-08-21T07:00:39.044Z,1755759639.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.49 m.
2025-08-21T07:00:39.047Z,1755759639.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.488625 m,
      nav range: 90.074509 m,
      bearing: 102.966121 deg,
      approach rate: -0.519746 m/s,
      LOS rate: 0.030611 deg/s,
      cmd heading: 97.380575 deg,
      new cmd heading: 97.420123 deg.

2025-08-21T07:00:39.048Z,1755759639.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.700302 target range: 93.488625 and range: 94.00 m.
2025-08-21T07:00:39.089Z,1755759639.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264357
2025-08-21T07:00:39.346Z,1755759639.346 [DAT](INFO): DAT read: 07:00:37.5489 LVL= 22688, 28849, 23586, 31731, AGC= 67, IDX= 423, 0.06, 2.039, 0.152, 1.974, 1.651, PHS= 0.490,-1.454, 0.279, RAW= 144.3,   7.5, CAL= 143.9,   8.2, ROT=   6.1,  -8.2

2025-08-21T07:00:39.350Z,1755759639.350 [DAT](INFO): got valid direction response:
 07:00:37.5489 LVL= 22688, 28849, 23586, 31731, AGC= 67, IDX= 423, 0.06, 2.039, 0.152, 1.974, 1.651, PHS= 0.490,-1.454, 0.279, RAW= 144.3,   7.5, CAL= 143.9,   8.2, ROT=   6.1,  -8.2

2025-08-21T07:00:39.372Z,1755759639.372 [DAT](INFO): DAT read: Bearing 264.8,   7.4 (Local)

2025-08-21T07:00:39.373Z,1755759639.373 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.8,   7.4 (Local)

2025-08-21T07:00:39.374Z,1755759639.374 [DAT](INFO): DAT read: Range 11 to 50 : 92.1 m  (Round-trip  122.9 ms) speed  0.4 m/s

2025-08-21T07:00:39.375Z,1755759639.375 [DAT](INFO): DAT read: user:2029>

2025-08-21T07:00:39.376Z,1755759639.376 [DAT](INFO): DAT read: Tx time:07:00:38.6718

2025-08-21T07:00:39.376Z,1755759639.376 [DAT](INFO): Ping request sent.
2025-08-21T07:00:39.376Z,1755759639.376 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:39.377Z,1755759639.377 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:39.378Z,1755759639.378 [DAT](INFO): direction in FSK: [0.984172,0.105178,0.142629]
2025-08-21T07:00:39.378Z,1755759639.378 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:39.378Z,1755759639.378 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:39.381Z,1755759639.381 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:39.382Z,1755759639.382 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:39.506Z,1755759639.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.099998 m,
      deltaT: 3.527375 s,
      deltaX: -1.900002 m,
      approachRate: -0.538645 m/s,
      rangeRepo size: 4

2025-08-21T07:00:39.512Z,1755759639.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.598930 m,
      bearing: 102.667742 deg,
      lat: 36.779357 deg,
      lon: -121.859430 deg,
      deltaT: 3.527375 s,
      deltaX: -1.889694 m,
      approachRate: -0.535722 m/s,
      posRepo size: 4

2025-08-21T07:00:39.513Z,1755759639.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.60 m.
2025-08-21T07:00:39.520Z,1755759639.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.598930 m,
      nav range: 89.908485 m,
      bearing: 102.739431 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030611 deg/s,
      cmd heading: 97.420122 deg,
      new cmd heading: 97.462441 deg.

2025-08-21T07:00:39.521Z,1755759639.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.701041 target range: 91.598930 and range: 92.10 m.
2025-08-21T07:00:39.850Z,1755759639.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:39.852Z,1755759639.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.60 m.
2025-08-21T07:00:39.855Z,1755759639.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.598930 m,
      nav range: 89.719894 m,
      bearing: 102.750033 deg,
      approach rate: -0.542583 m/s,
      LOS rate: 0.030567 deg/s,
      cmd heading: 97.462442 deg,
      new cmd heading: 97.494315 deg.

2025-08-21T07:00:39.856Z,1755759639.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.701597 target range: 91.598930 and range: 92.10 m.
2025-08-21T07:00:40.097Z,1755759640.097 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:40.097Z,1755759640.097 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:40.098Z,1755759640.098 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:40.285Z,1755759640.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.60 m.
2025-08-21T07:00:40.305Z,1755759640.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.598930 m,
      nav range: 89.493378 m,
      bearing: 102.760757 deg,
      approach rate: -0.525109 m/s,
      LOS rate: 0.024923 deg/s,
      cmd heading: 97.494318 deg,
      new cmd heading: 97.526571 deg.

2025-08-21T07:00:40.305Z,1755759640.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.702160 target range: 91.598930 and range: 92.10 m.
2025-08-21T07:00:40.350Z,1755759640.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.973051
2025-08-21T07:00:40.600Z,1755759640.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223816
2025-08-21T07:00:40.676Z,1755759640.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.60 m.
2025-08-21T07:00:40.679Z,1755759640.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.598930 m,
      nav range: 89.290108 m,
      bearing: 102.770302 deg,
      approach rate: -0.518683 m/s,
      LOS rate: 0.024411 deg/s,
      cmd heading: 97.526570 deg,
      new cmd heading: 97.555270 deg.

2025-08-21T07:00:40.684Z,1755759640.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.702661 target range: 91.598930 and range: 92.10 m.
2025-08-21T07:00:40.852Z,1755759640.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475824
2025-08-21T07:00:41.081Z,1755759641.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.60 m.
2025-08-21T07:00:41.083Z,1755759641.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.598930 m,
      nav range: 89.059372 m,
      bearing: 102.779498 deg,
      approach rate: -0.569884 m/s,
      LOS rate: 0.022772 deg/s,
      cmd heading: 97.555271 deg,
      new cmd heading: 97.582930 deg.

2025-08-21T07:00:41.084Z,1755759641.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.703143 target range: 91.598930 and range: 92.10 m.
2025-08-21T07:00:41.104Z,1755759641.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727755
2025-08-21T07:00:41.356Z,1755759641.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979926
2025-08-21T07:00:41.461Z,1755759641.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.60 m.
2025-08-21T07:00:41.464Z,1755759641.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.598930 m,
      nav range: 88.852425 m,
      bearing: 102.787806 deg,
      approach rate: -0.543777 m/s,
      LOS rate: 0.021883 deg/s,
      cmd heading: 97.582933 deg,
      new cmd heading: 97.607918 deg.

2025-08-21T07:00:41.465Z,1755759641.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.703580 target range: 91.598930 and range: 92.10 m.
2025-08-21T07:00:41.609Z,1755759641.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232684
2025-08-21T07:00:41.860Z,1755759641.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483775
2025-08-21T07:00:41.888Z,1755759641.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:41.890Z,1755759641.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.60 m.
2025-08-21T07:00:41.897Z,1755759641.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.598930 m,
      nav range: 88.628845 m,
      bearing: 102.796926 deg,
      approach rate: -0.521599 m/s,
      LOS rate: 0.021330 deg/s,
      cmd heading: 97.607918 deg,
      new cmd heading: 97.635346 deg.

2025-08-21T07:00:41.898Z,1755759641.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.704058 target range: 91.598930 and range: 92.10 m.
2025-08-21T07:00:42.115Z,1755759642.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.738716
2025-08-21T07:00:42.334Z,1755759642.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.60 m.
2025-08-21T07:00:42.341Z,1755759642.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.598930 m,
      nav range: 88.399193 m,
      bearing: 102.804084 deg,
      approach rate: -0.517268 m/s,
      LOS rate: 0.016163 deg/s,
      cmd heading: 97.635348 deg,
      new cmd heading: 97.656876 deg.

2025-08-21T07:00:42.342Z,1755759642.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.704434 target range: 91.598930 and range: 92.10 m.
2025-08-21T07:00:42.364Z,1755759642.364 [DAT](INFO): DAT read: Rx Time:07:00:41.1963

2025-08-21T07:00:42.365Z,1755759642.365 [DAT](INFO): Rx dataTimestamp_ set to:1755759642.364517
2025-08-21T07:00:42.365Z,1755759642.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988963
2025-08-21T07:00:42.617Z,1755759642.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240153
2025-08-21T07:00:42.674Z,1755759642.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.60 m.
2025-08-21T07:00:42.697Z,1755759642.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.598930 m,
      nav range: 88.215538 m,
      bearing: 102.809867 deg,
      approach rate: -0.540589 m/s,
      LOS rate: 0.017059 deg/s,
      cmd heading: 97.656877 deg,
      new cmd heading: 97.674263 deg.

2025-08-21T07:00:42.698Z,1755759642.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.704737 target range: 91.598930 and range: 92.10 m.
2025-08-21T07:00:42.871Z,1755759642.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.494231
2025-08-21T07:00:43.104Z,1755759643.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.60 m.
2025-08-21T07:00:43.106Z,1755759643.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.598930 m,
      nav range: 87.989250 m,
      bearing: 102.816676 deg,
      approach rate: -0.526054 m/s,
      LOS rate: 0.015870 deg/s,
      cmd heading: 97.674260 deg,
      new cmd heading: 97.694740 deg.

2025-08-21T07:00:43.108Z,1755759643.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.705095 target range: 91.598930 and range: 92.10 m.
2025-08-21T07:00:43.126Z,1755759643.126 [DAT](INFO): DAT read: 07:00:41.1963 LVL= 28016, 32753, 29810, 32755, AGC= 68, IDX= 413, 0.08,-2.732, 1.741,-2.781,-3.084, PHS= 0.454,-1.413, 0.259, RAW= 144.5,   7.9, CAL= 144.1,   8.7, ROT=   5.9,  -8.7

2025-08-21T07:00:43.127Z,1755759643.127 [DAT](INFO): got valid direction response:
 07:00:41.1963 LVL= 28016, 32753, 29810, 32755, AGC= 68, IDX= 413, 0.08,-2.732, 1.741,-2.781,-3.084, PHS= 0.454,-1.413, 0.259, RAW= 144.5,   7.9, CAL= 144.1,   8.7, ROT=   5.9,  -8.7

2025-08-21T07:00:43.128Z,1755759643.128 [DAT](INFO): DAT read: Bearing 266.1,   6.6 (Local)

2025-08-21T07:00:43.128Z,1755759643.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.1,   6.6 (Local)

2025-08-21T07:00:43.130Z,1755759643.130 [DAT](INFO): DAT read: Range 11 to 50 : 90.3 m  (Round-trip  120.4 ms) speed  0.4 m/s

2025-08-21T07:00:43.131Z,1755759643.131 [DAT](INFO): DAT read: user:2030>

2025-08-21T07:00:43.131Z,1755759643.131 [DAT](INFO): DAT read: Tx time:07:00:42.3218

2025-08-21T07:00:43.132Z,1755759643.132 [DAT](INFO): Ping request sent.
2025-08-21T07:00:43.132Z,1755759643.132 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:43.132Z,1755759643.132 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:43.133Z,1755759643.133 [DAT](INFO): direction in FSK: [0.983258,0.101610,0.151261]
2025-08-21T07:00:43.133Z,1755759643.133 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:43.133Z,1755759643.133 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:43.137Z,1755759643.137 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:43.137Z,1755759643.137 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:43.489Z,1755759643.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 90.300003 m,
      deltaT: 3.779989 s,
      deltaX: -1.799995 m,
      approachRate: -0.476191 m/s,
      rangeRepo size: 4

2025-08-21T07:00:43.507Z,1755759643.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.808746 m,
      bearing: 102.485984 deg,
      lat: 36.779357 deg,
      lon: -121.859427 deg,
      deltaT: 3.779989 s,
      deltaX: -1.790184 m,
      approachRate: -0.473595 m/s,
      posRepo size: 4

2025-08-21T07:00:43.508Z,1755759643.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m.
2025-08-21T07:00:43.510Z,1755759643.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.808746 m,
      nav range: 88.078903 m,
      bearing: 102.779805 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015870 deg/s,
      cmd heading: 97.694743 deg,
      new cmd heading: 97.713060 deg.

2025-08-21T07:00:43.516Z,1755759643.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.705415 target range: 89.808746 and range: 90.30 m.
2025-08-21T07:00:43.889Z,1755759643.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:43.892Z,1755759643.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m.
2025-08-21T07:00:43.894Z,1755759643.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.808746 m,
      nav range: 87.864990 m,
      bearing: 102.786066 deg,
      approach rate: -0.530899 m/s,
      LOS rate: 0.015576 deg/s,
      cmd heading: 97.713062 deg,
      new cmd heading: 97.731890 deg.

2025-08-21T07:00:43.895Z,1755759643.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.705743 target range: 89.808746 and range: 90.30 m.
2025-08-21T07:00:44.132Z,1755759644.132 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:44.132Z,1755759644.132 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:44.132Z,1755759644.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:44.340Z,1755759644.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m.
2025-08-21T07:00:44.342Z,1755759644.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.808746 m,
      nav range: 87.631302 m,
      bearing: 102.793296 deg,
      approach rate: -0.521576 m/s,
      LOS rate: 0.016178 deg/s,
      cmd heading: 97.731893 deg,
      new cmd heading: 97.753639 deg.

2025-08-21T07:00:44.343Z,1755759644.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.706123 target range: 89.808746 and range: 90.30 m.
2025-08-21T07:00:44.385Z,1755759644.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253342
2025-08-21T07:00:44.636Z,1755759644.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504408
2025-08-21T07:00:44.714Z,1755759644.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m.
2025-08-21T07:00:44.717Z,1755759644.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.808746 m,
      nav range: 87.443672 m,
      bearing: 102.799145 deg,
      approach rate: -0.501058 m/s,
      LOS rate: 0.015654 deg/s,
      cmd heading: 97.753640 deg,
      new cmd heading: 97.771226 deg.

2025-08-21T07:00:44.718Z,1755759644.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.706430 target range: 89.808746 and range: 90.30 m.
2025-08-21T07:00:44.888Z,1755759644.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756697
2025-08-21T07:00:45.125Z,1755759645.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m.
2025-08-21T07:00:45.128Z,1755759645.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.808746 m,
      nav range: 87.230858 m,
      bearing: 102.806121 deg,
      approach rate: -0.517863 m/s,
      LOS rate: 0.017016 deg/s,
      cmd heading: 97.771228 deg,
      new cmd heading: 97.792205 deg.

2025-08-21T07:00:45.129Z,1755759645.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.706796 target range: 89.808746 and range: 90.30 m.
2025-08-21T07:00:45.141Z,1755759645.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008835
2025-08-21T07:00:45.392Z,1755759645.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260405
2025-08-21T07:00:45.520Z,1755759645.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m.
2025-08-21T07:00:45.522Z,1755759645.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.808746 m,
      nav range: 87.040535 m,
      bearing: 102.812260 deg,
      approach rate: -0.481785 m/s,
      LOS rate: 0.015576 deg/s,
      cmd heading: 97.792203 deg,
      new cmd heading: 97.810663 deg.

2025-08-21T07:00:45.524Z,1755759645.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.707118 target range: 89.808746 and range: 90.30 m.
2025-08-21T07:00:45.644Z,1755759645.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512407
2025-08-21T07:00:45.896Z,1755759645.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764518
2025-08-21T07:00:45.985Z,1755759645.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:45.987Z,1755759645.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m.
2025-08-21T07:00:45.990Z,1755759645.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.808746 m,
      nav range: 86.798767 m,
      bearing: 102.819970 deg,
      approach rate: -0.517452 m/s,
      LOS rate: 0.016547 deg/s,
      cmd heading: 97.810665 deg,
      new cmd heading: 97.833859 deg.

2025-08-21T07:00:45.991Z,1755759645.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.707523 target range: 89.808746 and range: 90.30 m.
2025-08-21T07:00:46.149Z,1755759646.149 [DAT](INFO): DAT read: Rx Time:07:00:44.8435

2025-08-21T07:00:46.150Z,1755759646.150 [DAT](INFO): Rx dataTimestamp_ set to:1755759646.149143
2025-08-21T07:00:46.151Z,1755759646.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018533
2025-08-21T07:00:46.373Z,1755759646.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.81 m.
2025-08-21T07:00:46.376Z,1755759646.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.808746 m,
      nav range: 86.598007 m,
      bearing: 102.828055 deg,
      approach rate: -0.519888 m/s,
      LOS rate: 0.020985 deg/s,
      cmd heading: 97.833861 deg,
      new cmd heading: 97.858171 deg.

2025-08-21T07:00:46.377Z,1755759646.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.707947 target range: 89.808746 and range: 90.30 m.
2025-08-21T07:00:46.400Z,1755759646.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268443
2025-08-21T07:00:46.658Z,1755759646.658 [DAT](INFO): DAT read: 07:00:44.8435 LVL= 25744, 31217, 27362, 32755, AGC= 68, IDX= 417, 0.48,-1.203,-3.043,-1.270,-1.564, PHS= 0.462,-1.434, 0.250, RAW= 144.1,   8.1, CAL= 143.7,   8.8, ROT=   6.3,  -8.8

2025-08-21T07:00:46.659Z,1755759646.659 [DAT](INFO): got valid direction response:
 07:00:44.8435 LVL= 25744, 31217, 27362, 32755, AGC= 68, IDX= 417, 0.48,-1.203,-3.043,-1.270,-1.564, PHS= 0.462,-1.434, 0.250, RAW= 144.1,   8.1, CAL= 143.7,   8.8, ROT=   6.3,  -8.8

2025-08-21T07:00:46.660Z,1755759646.660 [DAT](INFO): DAT read: Bearing 266.7,   6.6 (Local)

2025-08-21T07:00:46.660Z,1755759646.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.7,   6.6 (Local)

2025-08-21T07:00:46.662Z,1755759646.662 [DAT](INFO): DAT read: Range 11 to 50 : 88.2 m  (Round-trip  117.6 ms) speed  0.4 m/s

2025-08-21T07:00:46.663Z,1755759646.663 [DAT](INFO): DAT read: user:2031>

2025-08-21T07:00:46.668Z,1755759646.668 [DAT](INFO): DAT read: Tx time:07:00:45.9717

2025-08-21T07:00:46.669Z,1755759646.669 [DAT](INFO): Ping request sent.
2025-08-21T07:00:46.669Z,1755759646.669 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:46.669Z,1755759646.669 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:46.670Z,1755759646.670 [DAT](INFO): direction in FSK: [0.982260,0.108443,0.152986]
2025-08-21T07:00:46.670Z,1755759646.670 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:46.670Z,1755759646.670 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:46.674Z,1755759646.674 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:46.674Z,1755759646.674 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:46.852Z,1755759646.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 88.199997 m,
      deltaT: 3.532031 s,
      deltaX: -2.100006 m,
      approachRate: -0.594561 m/s,
      rangeRepo size: 4

2025-08-21T07:00:46.854Z,1755759646.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.720268 m,
      bearing: 103.220812 deg,
      lat: 36.779357 deg,
      lon: -121.859425 deg,
      deltaT: 3.532031 s,
      deltaX: -2.088478 m,
      approachRate: -0.591297 m/s,
      posRepo size: 4

2025-08-21T07:00:46.855Z,1755759646.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.72 m.
2025-08-21T07:00:46.862Z,1755759646.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.720268 m,
      nav range: 86.552780 m,
      bearing: 102.808488 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020985 deg/s,
      cmd heading: 97.858169 deg,
      new cmd heading: 97.888023 deg.

2025-08-21T07:00:46.863Z,1755759646.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.708468 target range: 87.720268 and range: 88.20 m.
2025-08-21T07:00:47.245Z,1755759647.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.72 m.
2025-08-21T07:00:47.249Z,1755759647.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.720268 m,
      nav range: 86.335556 m,
      bearing: 102.816975 deg,
      approach rate: -0.546960 m/s,
      LOS rate: 0.021424 deg/s,
      cmd heading: 97.888024 deg,
      new cmd heading: 97.913549 deg.

2025-08-21T07:00:47.252Z,1755759647.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.708914 target range: 87.720268 and range: 88.20 m.
2025-08-21T07:00:47.621Z,1755759647.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.72 m.
2025-08-21T07:00:47.625Z,1755759647.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.720268 m,
      nav range: 86.139709 m,
      bearing: 102.824547 deg,
      approach rate: -0.519618 m/s,
      LOS rate: 0.020135 deg/s,
      cmd heading: 97.913548 deg,
      new cmd heading: 97.936316 deg.

2025-08-21T07:00:47.625Z,1755759647.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.709311 target range: 87.720268 and range: 88.20 m.
2025-08-21T07:00:48.018Z,1755759648.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:48.020Z,1755759648.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.72 m.
2025-08-21T07:00:48.023Z,1755759648.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.720268 m,
      nav range: 85.932243 m,
      bearing: 102.832480 deg,
      approach rate: -0.520291 m/s,
      LOS rate: 0.019942 deg/s,
      cmd heading: 97.936313 deg,
      new cmd heading: 97.960169 deg.

2025-08-21T07:00:48.024Z,1755759648.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.709728 target range: 87.720268 and range: 88.20 m.
2025-08-21T07:00:48.165Z,1755759648.165 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:48.165Z,1755759648.165 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:48.165Z,1755759648.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:48.416Z,1755759648.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747537
2025-08-21T07:00:48.465Z,1755759648.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.72 m.
2025-08-21T07:00:48.468Z,1755759648.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.720268 m,
      nav range: 85.698265 m,
      bearing: 102.840194 deg,
      approach rate: -0.526462 m/s,
      LOS rate: 0.017405 deg/s,
      cmd heading: 97.960171 deg,
      new cmd heading: 97.983378 deg.

2025-08-21T07:00:48.468Z,1755759648.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.710133 target range: 87.720268 and range: 88.20 m.
2025-08-21T07:00:48.669Z,1755759648.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000292
2025-08-21T07:00:48.874Z,1755759648.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.72 m.
2025-08-21T07:00:48.881Z,1755759648.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.720268 m,
      nav range: 85.491539 m,
      bearing: 102.846994 deg,
      approach rate: -0.505224 m/s,
      LOS rate: 0.016659 deg/s,
      cmd heading: 97.983380 deg,
      new cmd heading: 98.003829 deg.

2025-08-21T07:00:48.882Z,1755759648.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.710490 target range: 87.720268 and range: 88.20 m.
2025-08-21T07:00:48.921Z,1755759648.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252631
2025-08-21T07:00:49.173Z,1755759649.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504182
2025-08-21T07:00:49.292Z,1755759649.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.72 m.
2025-08-21T07:00:49.295Z,1755759649.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.720268 m,
      nav range: 85.268631 m,
      bearing: 102.856327 deg,
      approach rate: -0.533194 m/s,
      LOS rate: 0.022381 deg/s,
      cmd heading: 98.003830 deg,
      new cmd heading: 98.031899 deg.

2025-08-21T07:00:49.300Z,1755759649.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.710979 target range: 87.720268 and range: 88.20 m.
2025-08-21T07:00:49.424Z,1755759649.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755496
2025-08-21T07:00:49.650Z,1755759649.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.72 m.
2025-08-21T07:00:49.653Z,1755759649.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.720268 m,
      nav range: 85.072571 m,
      bearing: 102.864526 deg,
      approach rate: -0.547861 m/s,
      LOS rate: 0.022966 deg/s,
      cmd heading: 98.031902 deg,
      new cmd heading: 98.056558 deg.

2025-08-21T07:00:49.654Z,1755759649.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.711410 target range: 87.720268 and range: 88.20 m.
2025-08-21T07:00:49.676Z,1755759649.676 [DAT](INFO): DAT read: Rx Time:07:00:48.4911

2025-08-21T07:00:49.677Z,1755759649.677 [DAT](INFO): Rx dataTimestamp_ set to:1755759649.676614
2025-08-21T07:00:49.677Z,1755759649.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008738
2025-08-21T07:00:49.928Z,1755759649.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259413
2025-08-21T07:00:50.043Z,1755759650.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:50.045Z,1755759650.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.72 m.
2025-08-21T07:00:50.048Z,1755759650.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.720268 m,
      nav range: 84.863358 m,
      bearing: 102.873334 deg,
      approach rate: -0.528677 m/s,
      LOS rate: 0.022312 deg/s,
      cmd heading: 98.056559 deg,
      new cmd heading: 98.083047 deg.

2025-08-21T07:00:50.049Z,1755759650.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.711872 target range: 87.720268 and range: 88.20 m.
2025-08-21T07:00:50.184Z,1755759650.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515030
2025-08-21T07:00:50.200Z,1755759650.200 [RudderServo](ERROR): getPosition uart error serial timeout
2025-08-21T07:00:50.200Z,1755759650.200 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2025-08-21T07:00:50.201Z,1755759650.201 [RudderServo] Communications Fault, FailCount= 1
2025-08-21T07:00:50.201Z,1755759650.201 [RudderServo](ERROR): Communications Fault
2025-08-21T07:00:50.224Z,1755759650.224 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-08-21T07:00:50.438Z,1755759650.438 [DAT](INFO): DAT read: 07:00:48.4911 LVL= 25952, 32753, 28658, 32755, AGC= 66, IDX= 424,-0.10,-0.777,-2.531,-0.856,-1.106, PHS= 0.431,-1.381, 0.206, RAW= 143.5,   8.7, CAL= 143.0,   9.5, ROT=   7.0,  -9.5

2025-08-21T07:00:50.439Z,1755759650.439 [DAT](INFO): got valid direction response:
 07:00:48.4911 LVL= 25952, 32753, 28658, 32755, AGC= 66, IDX= 424,-0.10,-0.777,-2.531,-0.856,-1.106, PHS= 0.431,-1.381, 0.206, RAW= 143.5,   8.7, CAL= 143.0,   9.5, ROT=   7.0,  -9.5

2025-08-21T07:00:50.440Z,1755759650.440 [DAT](INFO): DAT read: Bearing 267.9,   6.9 (Local)

2025-08-21T07:00:50.440Z,1755759650.440 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.9,   6.9 (Local)

2025-08-21T07:00:50.442Z,1755759650.442 [DAT](INFO): DAT read: Range 11 to 50 : 86.4 m  (Round-trip  115.2 ms) speed  0.4 m/s

2025-08-21T07:00:50.443Z,1755759650.443 [DAT](INFO): DAT read: user:2032>

2025-08-21T07:00:50.443Z,1755759650.443 [DAT](INFO): DAT read: Tx time:07:00:49.6217

2025-08-21T07:00:50.444Z,1755759650.444 [DAT](INFO): Ping request sent.
2025-08-21T07:00:50.444Z,1755759650.444 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:50.444Z,1755759650.444 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:50.445Z,1755759650.445 [DAT](INFO): direction in FSK: [0.978934,0.120198,0.165048]
2025-08-21T07:00:50.445Z,1755759650.445 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:50.446Z,1755759650.446 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:50.453Z,1755759650.453 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:50.453Z,1755759650.453 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:50.573Z,1755759650.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 86.400002 m,
      deltaT: 3.780076 s,
      deltaX: -1.799995 m,
      approachRate: -0.476180 m/s,
      rangeRepo size: 4

2025-08-21T07:00:50.576Z,1755759650.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 85.928917 m,
      bearing: 104.254288 deg,
      lat: 36.779357 deg,
      lon: -121.859425 deg,
      deltaT: 3.780076 s,
      deltaX: -1.791351 m,
      approachRate: -0.473893 m/s,
      posRepo size: 4

2025-08-21T07:00:50.576Z,1755759650.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:50.579Z,1755759650.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 84.606743 m,
      bearing: 102.883795 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022312 deg/s,
      cmd heading: 98.083046 deg,
      new cmd heading: 98.118337 deg.

2025-08-21T07:00:50.592Z,1755759650.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.712488 target range: 85.928917 and range: 86.40 m.
2025-08-21T07:00:50.677Z,1755759650.677 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-08-21T07:00:50.677Z,1755759650.677 [RudderServo](INFO): Powering down
2025-08-21T07:00:50.868Z,1755759650.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:50.871Z,1755759650.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 84.432533 m,
      bearing: 102.890788 deg,
      approach rate: -0.589191 m/s,
      LOS rate: 0.023699 deg/s,
      cmd heading: 98.118338 deg,
      new cmd heading: 98.139360 deg.

2025-08-21T07:00:50.872Z,1755759650.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.712855 target range: 85.928917 and range: 86.40 m.
2025-08-21T07:00:51.296Z,1755759651.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:51.300Z,1755759651.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 84.202393 m,
      bearing: 102.898027 deg,
      approach rate: -0.537645 m/s,
      LOS rate: 0.016958 deg/s,
      cmd heading: 98.139361 deg,
      new cmd heading: 98.161139 deg.

2025-08-21T07:00:51.301Z,1755759651.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.713235 target range: 85.928917 and range: 86.40 m.
2025-08-21T07:00:51.366Z,1755759651.366 [RudderServo](DEBUG): Initializing EZServoServo.
2025-08-21T07:00:51.484Z,1755759651.484 [RudderServo](DEBUG): Initializing RudderServo.
2025-08-21T07:00:51.563Z,1755759651.563 [CBIT](INFO): Clearing failed state for component RudderServo
2025-08-21T07:00:51.564Z,1755759651.564 [RudderServo] No Fault, FailCount= 1
2025-08-21T07:00:51.664Z,1755759651.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:51.667Z,1755759651.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 84.004547 m,
      bearing: 102.904238 deg,
      approach rate: -0.537964 m/s,
      LOS rate: 0.016928 deg/s,
      cmd heading: 98.161136 deg,
      new cmd heading: 98.179813 deg.

2025-08-21T07:00:51.668Z,1755759651.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.713561 target range: 85.928917 and range: 86.40 m.
2025-08-21T07:00:52.062Z,1755759652.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:52.065Z,1755759652.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:52.068Z,1755759652.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 83.789436 m,
      bearing: 102.910954 deg,
      approach rate: -0.537245 m/s,
      LOS rate: 0.016816 deg/s,
      cmd heading: 98.179810 deg,
      new cmd heading: 98.200009 deg.

2025-08-21T07:00:52.069Z,1755759652.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.713913 target range: 85.928917 and range: 86.40 m.
2025-08-21T07:00:52.201Z,1755759652.201 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:52.201Z,1755759652.201 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:52.201Z,1755759652.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:52.452Z,1755759652.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008377
2025-08-21T07:00:52.501Z,1755759652.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:52.504Z,1755759652.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 83.555481 m,
      bearing: 102.919969 deg,
      approach rate: -0.536701 m/s,
      LOS rate: 0.020739 deg/s,
      cmd heading: 98.200007 deg,
      new cmd heading: 98.227128 deg.

2025-08-21T07:00:52.505Z,1755759652.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.714387 target range: 85.928917 and range: 86.40 m.
2025-08-21T07:00:52.704Z,1755759652.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260292
2025-08-21T07:00:52.891Z,1755759652.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:52.910Z,1755759652.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 83.346054 m,
      bearing: 102.928082 deg,
      approach rate: -0.536574 m/s,
      LOS rate: 0.020838 deg/s,
      cmd heading: 98.227129 deg,
      new cmd heading: 98.251529 deg.

2025-08-21T07:00:52.910Z,1755759652.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.714813 target range: 85.928917 and range: 86.40 m.
2025-08-21T07:00:52.956Z,1755759652.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512369
2025-08-21T07:00:53.208Z,1755759653.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764292
2025-08-21T07:00:53.311Z,1755759653.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:53.314Z,1755759653.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 83.120529 m,
      bearing: 102.935031 deg,
      approach rate: -0.536596 m/s,
      LOS rate: 0.016578 deg/s,
      cmd heading: 98.251527 deg,
      new cmd heading: 98.272429 deg.

2025-08-21T07:00:53.315Z,1755759653.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.715177 target range: 85.928917 and range: 86.40 m.
2025-08-21T07:00:53.460Z,1755759653.460 [DAT](INFO): DAT read: Rx Time:07:00:52.1384

2025-08-21T07:00:53.461Z,1755759653.461 [DAT](INFO): Rx dataTimestamp_ set to:1755759653.460550
2025-08-21T07:00:53.461Z,1755759653.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017479
2025-08-21T07:00:53.713Z,1755759653.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269119
2025-08-21T07:00:53.719Z,1755759653.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:53.722Z,1755759653.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 82.912247 m,
      bearing: 102.941482 deg,
      approach rate: -0.537086 m/s,
      LOS rate: 0.016677 deg/s,
      cmd heading: 98.272427 deg,
      new cmd heading: 98.291829 deg.

2025-08-21T07:00:53.723Z,1755759653.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.715516 target range: 85.928917 and range: 86.40 m.
2025-08-21T07:00:53.971Z,1755759653.971 [DAT](INFO): DAT read: 07:00:52.1384 LVL= 29328, 31057, 31682, 32755, AGC= 67, IDX= 414,-0.47, 1.491,-0.341, 1.413, 1.113, PHS= 0.480,-1.409, 0.255, RAW= 143.8,   7.6, CAL= 143.3 ROT=   6.7,  -8.3

2025-08-21T07:00:53.972Z,1755759653.972 [DAT](INFO): unknown deviceResponse_: 07:00:52.1384 LVL= 29328, 31057, 31682, 32755, AGC= 67, IDX= 414,-0.47, 1.491,-0.341, 1.413, 1.113, PHS= 0.480,-1.409, 0.255, RAW= 143.8,   7.6, CAL= 143.3 ROT=   6.7,  -8.3

2025-08-21T07:00:53.973Z,1755759653.973 [DAT](INFO): DAT read: Bearing 266.9,   6.1 (Local)

2025-08-21T07:00:53.973Z,1755759653.973 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.9,   6.1 (Local)

2025-08-21T07:00:53.974Z,1755759653.974 [DAT](INFO): DAT read: Range 11 to 50 : 84.3 m  (Round-trip  112.5 ms) speed  0.5 m/s

2025-08-21T07:00:53.975Z,1755759653.975 [DAT](INFO): DAT read: user:2033>

2025-08-21T07:00:53.976Z,1755759653.976 [DAT](INFO): DAT read: Tx time:07:00:53.2717

2025-08-21T07:00:53.976Z,1755759653.976 [DAT](INFO): Ping request sent.
2025-08-21T07:00:53.976Z,1755759653.976 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:53.977Z,1755759653.977 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T07:00:53.977Z,1755759653.977 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:53.978Z,1755759653.978 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:54.102Z,1755759654.102 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:54.109Z,1755759654.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.300003 m,
      deltaT: 3.532230 s,
      deltaX: -2.099998 m,
      approachRate: -0.594525 m/s,
      rangeRepo size: 4

2025-08-21T07:00:54.109Z,1755759654.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:54.116Z,1755759654.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 82.699524 m,
      bearing: 102.947865 deg,
      approach rate: -0.519990 m/s,
      LOS rate: 0.015643 deg/s,
      cmd heading: 98.291832 deg,
      new cmd heading: 98.311030 deg.

2025-08-21T07:00:54.117Z,1755759654.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.715851 target range: 85.928917 and range: 84.30 m.
2025-08-21T07:00:54.219Z,1755759654.219 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:54.220Z,1755759654.220 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:54.221Z,1755759654.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:54.468Z,1755759654.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.491522
2025-08-21T07:00:54.529Z,1755759654.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:54.532Z,1755759654.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 82.454865 m,
      bearing: 102.956411 deg,
      approach rate: -0.581485 m/s,
      LOS rate: 0.020371 deg/s,
      cmd heading: 98.311031 deg,
      new cmd heading: 98.336745 deg.

2025-08-21T07:00:54.533Z,1755759654.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.716300 target range: 85.928917 and range: 84.30 m.
2025-08-21T07:00:54.720Z,1755759654.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743553
2025-08-21T07:00:54.913Z,1755759654.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:54.916Z,1755759654.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 82.238068 m,
      bearing: 102.963754 deg,
      approach rate: -0.564434 m/s,
      LOS rate: 0.019168 deg/s,
      cmd heading: 98.336747 deg,
      new cmd heading: 98.358834 deg.

2025-08-21T07:00:54.917Z,1755759654.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.716686 target range: 85.928917 and range: 84.30 m.
2025-08-21T07:00:54.973Z,1755759654.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996738
2025-08-21T07:00:55.226Z,1755759655.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248652
2025-08-21T07:00:55.327Z,1755759655.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:55.330Z,1755759655.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 82.010979 m,
      bearing: 102.972450 deg,
      approach rate: -0.548206 m/s,
      LOS rate: 0.021052 deg/s,
      cmd heading: 98.358836 deg,
      new cmd heading: 98.384998 deg.

2025-08-21T07:00:55.331Z,1755759655.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.717142 target range: 85.928917 and range: 84.30 m.
2025-08-21T07:00:55.476Z,1755759655.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499931
2025-08-21T07:00:55.702Z,1755759655.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:55.705Z,1755759655.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 81.804932 m,
      bearing: 102.980238 deg,
      approach rate: -0.550222 m/s,
      LOS rate: 0.020849 deg/s,
      cmd heading: 98.384995 deg,
      new cmd heading: 98.408418 deg.

2025-08-21T07:00:55.706Z,1755759655.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.717551 target range: 85.928917 and range: 84.30 m.
2025-08-21T07:00:55.747Z,1755759655.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770158
2025-08-21T07:00:55.996Z,1755759655.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019707
2025-08-21T07:00:56.126Z,1755759656.126 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:56.135Z,1755759656.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:56.137Z,1755759656.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 81.579887 m,
      bearing: 102.988667 deg,
      approach rate: -0.519722 m/s,
      LOS rate: 0.019519 deg/s,
      cmd heading: 98.408416 deg,
      new cmd heading: 98.433772 deg.

2025-08-21T07:00:56.138Z,1755759656.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.717993 target range: 85.928917 and range: 84.30 m.
2025-08-21T07:00:56.254Z,1755759656.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.276968
2025-08-21T07:00:56.504Z,1755759656.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527763
2025-08-21T07:00:56.547Z,1755759656.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:56.550Z,1755759656.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 81.361076 m,
      bearing: 102.993866 deg,
      approach rate: -0.530410 m/s,
      LOS rate: 0.012637 deg/s,
      cmd heading: 98.433770 deg,
      new cmd heading: 98.449409 deg.

2025-08-21T07:00:56.552Z,1755759656.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.718266 target range: 85.928917 and range: 84.30 m.
2025-08-21T07:00:56.757Z,1755759656.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780103
2025-08-21T07:00:56.924Z,1755759656.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:56.926Z,1755759656.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 81.154671 m,
      bearing: 102.998692 deg,
      approach rate: -0.547879 m/s,
      LOS rate: 0.012842 deg/s,
      cmd heading: 98.449411 deg,
      new cmd heading: 98.463925 deg.

2025-08-21T07:00:56.928Z,1755759656.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.718520 target range: 85.928917 and range: 84.30 m.
2025-08-21T07:00:57.008Z,1755759657.008 [DAT](INFO): DAT read: Rx Time:07:00:55.7858

2025-08-21T07:00:57.009Z,1755759657.009 [DAT](INFO): Rx dataTimestamp_ set to:1755759657.008577
2025-08-21T07:00:57.009Z,1755759657.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032858
2025-08-21T07:00:57.260Z,1755759657.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283706
2025-08-21T07:00:57.360Z,1755759657.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.93 m.
2025-08-21T07:00:57.362Z,1755759657.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 85.928917 m,
      nav range: 80.931137 m,
      bearing: 103.004501 deg,
      approach rate: -0.518238 m/s,
      LOS rate: 0.013504 deg/s,
      cmd heading: 98.463925 deg,
      new cmd heading: 98.481399 deg.

2025-08-21T07:00:57.368Z,1755759657.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.718825 target range: 85.928917 and range: 84.30 m.
2025-08-21T07:00:57.523Z,1755759657.523 [DAT](INFO): DAT read: 07:00:55.7858 LVL= 25312, 30769, 23986, 32755, AGC= 67, IDX= 418,-0.07,-2.905, 1.542,-2.967, 3.028, PHS= 0.453,-1.440, 0.245, RAW= 144.3,   8.3, CAL= 143.8,   9.1, ROT=   6.2,  -9.1

2025-08-21T07:00:57.524Z,1755759657.524 [DAT](INFO): got valid direction response:
 07:00:55.7858 LVL= 25312, 30769, 23986, 32755, AGC= 67, IDX= 418,-0.07,-2.905, 1.542,-2.967, 3.028, PHS= 0.453,-1.440, 0.245, RAW= 144.3,   8.3, CAL= 143.8,   9.1, ROT=   6.2,  -9.1

2025-08-21T07:00:57.525Z,1755759657.525 [DAT](INFO): DAT read: Bearing 268.2,   5.3 (Local)

2025-08-21T07:00:57.527Z,1755759657.527 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.2,   5.3 (Local)

2025-08-21T07:00:57.531Z,1755759657.531 [DAT](INFO): DAT read: Range 11 to 50 : 82.4 m  (Round-trip  109.9 ms) speed  0.4 m/s

2025-08-21T07:00:57.532Z,1755759657.532 [DAT](INFO): DAT read: user:2034>

2025-08-21T07:00:57.532Z,1755759657.532 [DAT](INFO): DAT read: Tx time:07:00:56.9217

2025-08-21T07:00:57.533Z,1755759657.533 [DAT](INFO): Ping request sent.
2025-08-21T07:00:57.533Z,1755759657.533 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:00:57.533Z,1755759657.533 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:00:57.534Z,1755759657.534 [DAT](INFO): direction in FSK: [0.981638,0.106640,0.158158]
2025-08-21T07:00:57.534Z,1755759657.534 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:57.534Z,1755759657.534 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:57.546Z,1755759657.546 [DAT](INFO): publishing transmit ping time
2025-08-21T07:00:57.546Z,1755759657.546 [DAT](INFO): publishing direction and range info
2025-08-21T07:00:57.633Z,1755759657.633 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:00:57.787Z,1755759657.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.400002 m,
      deltaT: 3.548204 s,
      deltaX: -1.900002 m,
      approachRate: -0.535483 m/s,
      rangeRepo size: 4

2025-08-21T07:00:57.793Z,1755759657.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.951767 m,
      bearing: 104.223286 deg,
      lat: 36.779351 deg,
      lon: -121.859424 deg,
      deltaT: 7.080434 s,
      deltaX: -3.977150 m,
      approachRate: -0.561710 m/s,
      posRepo size: 4

2025-08-21T07:00:57.794Z,1755759657.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-08-21T07:00:57.801Z,1755759657.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.951767 m,
      nav range: 80.870918 m,
      bearing: 103.448239 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.013504 deg/s,
      cmd heading: 98.481397 deg,
      new cmd heading: 98.498857 deg.

2025-08-21T07:00:57.802Z,1755759657.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.719129 target range: 81.951767 and range: 82.40 m.
2025-08-21T07:00:58.169Z,1755759658.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:00:58.176Z,1755759658.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-08-21T07:00:58.184Z,1755759658.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.951767 m,
      nav range: 80.664459 m,
      bearing: 103.454535 deg,
      approach rate: -0.529905 m/s,
      LOS rate: 0.016201 deg/s,
      cmd heading: 98.498855 deg,
      new cmd heading: 98.517791 deg.

2025-08-21T07:00:58.185Z,1755759658.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.719460 target range: 81.951767 and range: 82.40 m.
2025-08-21T07:00:58.292Z,1755759658.292 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:00:58.292Z,1755759658.292 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:00:58.292Z,1755759658.292 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:00:58.520Z,1755759658.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987457
2025-08-21T07:00:58.636Z,1755759658.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:00:58.639Z,1755759658.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-08-21T07:00:58.642Z,1755759658.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.951767 m,
      nav range: 80.419998 m,
      bearing: 103.460144 deg,
      approach rate: -0.527885 m/s,
      LOS rate: 0.012150 deg/s,
      cmd heading: 98.517788 deg,
      new cmd heading: 98.534668 deg.

2025-08-21T07:00:58.643Z,1755759658.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.719754 target range: 81.951767 and range: 82.40 m.
2025-08-21T07:00:58.772Z,1755759658.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239649
2025-08-21T07:00:59.025Z,1755759659.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492575
2025-08-21T07:00:59.097Z,1755759659.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-08-21T07:00:59.104Z,1755759659.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.951767 m,
      nav range: 80.184517 m,
      bearing: 103.465536 deg,
      approach rate: -0.514073 m/s,
      LOS rate: 0.011804 deg/s,
      cmd heading: 98.534665 deg,
      new cmd heading: 98.550886 deg.

2025-08-21T07:00:59.105Z,1755759659.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.720037 target range: 81.951767 and range: 82.40 m.
2025-08-21T07:00:59.279Z,1755759659.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746090
2025-08-21T07:00:59.528Z,1755759659.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995636
2025-08-21T07:00:59.556Z,1755759659.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-08-21T07:00:59.558Z,1755759659.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.951767 m,
      nav range: 79.935455 m,
      bearing: 103.474296 deg,
      approach rate: -0.544496 m/s,
      LOS rate: 0.019212 deg/s,
      cmd heading: 98.550887 deg,
      new cmd heading: 98.577251 deg.

2025-08-21T07:00:59.559Z,1755759659.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.720498 target range: 81.951767 and range: 82.40 m.
2025-08-21T07:00:59.782Z,1755759659.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248531
2025-08-21T07:00:59.925Z,1755759659.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-08-21T07:00:59.928Z,1755759659.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.951767 m,
      nav range: 79.741081 m,
      bearing: 103.481123 deg,
      approach rate: -0.524300 m/s,
      LOS rate: 0.018459 deg/s,
      cmd heading: 98.577252 deg,
      new cmd heading: 98.597782 deg.

2025-08-21T07:00:59.929Z,1755759659.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.720856 target range: 81.951767 and range: 82.40 m.
2025-08-21T07:01:00.032Z,1755759660.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499691
2025-08-21T07:01:00.287Z,1755759660.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753838
2025-08-21T07:01:00.388Z,1755759660.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:00.390Z,1755759660.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-08-21T07:01:00.409Z,1755759660.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.951767 m,
      nav range: 79.503571 m,
      bearing: 103.488872 deg,
      approach rate: -0.510656 m/s,
      LOS rate: 0.016709 deg/s,
      cmd heading: 98.597783 deg,
      new cmd heading: 98.621098 deg.

2025-08-21T07:01:00.410Z,1755759660.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.721263 target range: 81.951767 and range: 82.40 m.
2025-08-21T07:01:00.536Z,1755759660.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003437
2025-08-21T07:01:00.734Z,1755759660.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-08-21T07:01:00.744Z,1755759660.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.951767 m,
      nav range: 79.333305 m,
      bearing: 103.494455 deg,
      approach rate: -0.495608 m/s,
      LOS rate: 0.016287 deg/s,
      cmd heading: 98.621095 deg,
      new cmd heading: 98.637881 deg.

2025-08-21T07:01:00.745Z,1755759660.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.721556 target range: 81.951767 and range: 82.40 m.
2025-08-21T07:01:00.788Z,1755759660.788 [DAT](INFO): DAT read: Rx Time:07:00:59.4333

2025-08-21T07:01:00.789Z,1755759660.789 [DAT](INFO): Rx dataTimestamp_ set to:1755759660.788580
2025-08-21T07:01:00.789Z,1755759660.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256727
2025-08-21T07:01:01.040Z,1755759661.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507568
2025-08-21T07:01:01.181Z,1755759661.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.95 m.
2025-08-21T07:01:01.188Z,1755759661.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.951767 m,
      nav range: 79.114014 m,
      bearing: 103.501547 deg,
      approach rate: -0.489810 m/s,
      LOS rate: 0.015884 deg/s,
      cmd heading: 98.637883 deg,
      new cmd heading: 98.659218 deg.

2025-08-21T07:01:01.189Z,1755759661.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.721928 target range: 81.951767 and range: 82.40 m.
2025-08-21T07:01:01.324Z,1755759661.324 [DAT](INFO): DAT read: 07:00:59.4333 LVL= 25056, 29601, 26034, 32755, AGC= 65, IDX= 408, 0.07,-0.028,-1.802,-0.117,-0.388, PHS= 0.462,-1.369, 0.227, RAW= 143.2,   7.9, CAL= 142.8,   8.7, ROT=   7.2,  -8.7

2025-08-21T07:01:01.325Z,1755759661.325 [DAT](INFO): got valid direction response:
 07:00:59.4333 LVL= 25056, 29601, 26034, 32755, AGC= 65, IDX= 408, 0.07,-0.028,-1.802,-0.117,-0.388, PHS= 0.462,-1.369, 0.227, RAW= 143.2,   7.9, CAL= 142.8,   8.7, ROT=   7.2,  -8.7

2025-08-21T07:01:01.331Z,1755759661.331 [DAT](INFO): DAT read: Bearing 268.3,   6.4 (Local)

2025-08-21T07:01:01.332Z,1755759661.332 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.3,   6.4 (Local)

2025-08-21T07:01:01.334Z,1755759661.334 [DAT](INFO): DAT read: Range 11 to 50 : 80.5 m  (Round-trip  107.4 ms) speed  0.4 m/s

2025-08-21T07:01:01.335Z,1755759661.335 [DAT](INFO): DAT read: user:2035>

2025-08-21T07:01:01.340Z,1755759661.340 [DAT](INFO): DAT read: Tx time:07:01:00.5217

2025-08-21T07:01:01.341Z,1755759661.341 [DAT](INFO): Ping request sent.
2025-08-21T07:01:01.341Z,1755759661.341 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:01.341Z,1755759661.341 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:01.342Z,1755759661.342 [DAT](INFO): direction in FSK: [0.980699,0.123891,0.151261]
2025-08-21T07:01:01.342Z,1755759661.342 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:01.342Z,1755759661.342 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:01.350Z,1755759661.350 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:01.350Z,1755759661.350 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:01.584Z,1755759661.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.500000 m,
      deltaT: 3.782450 s,
      deltaX: -1.900002 m,
      approachRate: -0.502320 m/s,
      rangeRepo size: 4

2025-08-21T07:01:01.586Z,1755759661.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 80.062119 m,
      bearing: 105.535457 deg,
      lat: 36.779341 deg,
      lon: -121.859425 deg,
      deltaT: 3.782450 s,
      deltaX: -1.889648 m,
      approachRate: -0.499583 m/s,
      posRepo size: 4

2025-08-21T07:01:01.603Z,1755759661.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.06 m.
2025-08-21T07:01:01.606Z,1755759661.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.062119 m,
      nav range: 79.150925 m,
      bearing: 104.309295 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015884 deg/s,
      cmd heading: 98.659221 deg,
      new cmd heading: 98.678387 deg.

2025-08-21T07:01:01.607Z,1755759661.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.722263 target range: 80.062119 and range: 80.50 m.
2025-08-21T07:01:01.977Z,1755759661.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.06 m.
2025-08-21T07:01:01.984Z,1755759661.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.062119 m,
      nav range: 78.960655 m,
      bearing: 104.316451 deg,
      approach rate: -0.483385 m/s,
      LOS rate: 0.018222 deg/s,
      cmd heading: 98.678386 deg,
      new cmd heading: 98.699904 deg.

2025-08-21T07:01:01.985Z,1755759661.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.722638 target range: 80.062119 and range: 80.50 m.
2025-08-21T07:01:02.401Z,1755759662.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:02.403Z,1755759662.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.06 m.
2025-08-21T07:01:02.406Z,1755759662.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.062119 m,
      nav range: 78.722748 m,
      bearing: 104.323538 deg,
      approach rate: -0.559189 m/s,
      LOS rate: 0.016708 deg/s,
      cmd heading: 98.699901 deg,
      new cmd heading: 98.721226 deg.

2025-08-21T07:01:02.406Z,1755759662.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.723010 target range: 80.062119 and range: 80.50 m.
2025-08-21T07:01:02.552Z,1755759662.552 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:02.552Z,1755759662.552 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:02.552Z,1755759662.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:02.783Z,1755759662.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.06 m.
2025-08-21T07:01:02.786Z,1755759662.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.062119 m,
      nav range: 78.521362 m,
      bearing: 104.329535 deg,
      approach rate: -0.530029 m/s,
      LOS rate: 0.015825 deg/s,
      cmd heading: 98.721225 deg,
      new cmd heading: 98.739264 deg.

2025-08-21T07:01:02.786Z,1755759662.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.723325 target range: 80.062119 and range: 80.50 m.
2025-08-21T07:01:02.805Z,1755759662.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.464558
2025-08-21T07:01:03.057Z,1755759663.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715861
2025-08-21T07:01:03.195Z,1755759663.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.06 m.
2025-08-21T07:01:03.198Z,1755759663.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.062119 m,
      nav range: 78.316681 m,
      bearing: 104.335519 deg,
      approach rate: -0.496762 m/s,
      LOS rate: 0.014562 deg/s,
      cmd heading: 98.739264 deg,
      new cmd heading: 98.757263 deg.

2025-08-21T07:01:03.198Z,1755759663.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.723639 target range: 80.062119 and range: 80.50 m.
2025-08-21T07:01:03.311Z,1755759663.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.970031
2025-08-21T07:01:03.560Z,1755759663.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219505
2025-08-21T07:01:03.603Z,1755759663.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.06 m.
2025-08-21T07:01:03.606Z,1755759663.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.062119 m,
      nav range: 78.087883 m,
      bearing: 104.342689 deg,
      approach rate: -0.560621 m/s,
      LOS rate: 0.017620 deg/s,
      cmd heading: 98.757261 deg,
      new cmd heading: 98.778834 deg.

2025-08-21T07:01:03.607Z,1755759663.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724016 target range: 80.062119 and range: 80.50 m.
2025-08-21T07:01:03.812Z,1755759663.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471549
2025-08-21T07:01:03.981Z,1755759663.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.06 m.
2025-08-21T07:01:03.985Z,1755759663.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.062119 m,
      nav range: 77.887810 m,
      bearing: 104.348883 deg,
      approach rate: -0.528773 m/s,
      LOS rate: 0.016413 deg/s,
      cmd heading: 98.778831 deg,
      new cmd heading: 98.797461 deg.

2025-08-21T07:01:03.986Z,1755759663.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724341 target range: 80.062119 and range: 80.50 m.
2025-08-21T07:01:04.065Z,1755759664.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724160
2025-08-21T07:01:04.319Z,1755759664.319 [DAT](INFO): DAT read: Rx Time:07:01:03.0307

2025-08-21T07:01:04.321Z,1755759664.321 [DAT](INFO): Rx dataTimestamp_ set to:1755759664.319924
2025-08-21T07:01:04.323Z,1755759664.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981604
2025-08-21T07:01:04.438Z,1755759664.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:04.460Z,1755759664.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.06 m.
2025-08-21T07:01:04.463Z,1755759664.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.062119 m,
      nav range: 77.639191 m,
      bearing: 104.355584 deg,
      approach rate: -0.519148 m/s,
      LOS rate: 0.014037 deg/s,
      cmd heading: 98.797464 deg,
      new cmd heading: 98.817631 deg.

2025-08-21T07:01:04.468Z,1755759664.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724693 target range: 80.062119 and range: 80.50 m.
2025-08-21T07:01:04.569Z,1755759664.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.227931
2025-08-21T07:01:04.799Z,1755759664.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.06 m.
2025-08-21T07:01:04.801Z,1755759664.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 80.062119 m,
      nav range: 77.444557 m,
      bearing: 104.360737 deg,
      approach rate: -0.574847 m/s,
      LOS rate: 0.015258 deg/s,
      cmd heading: 98.817633 deg,
      new cmd heading: 98.833132 deg.

2025-08-21T07:01:04.802Z,1755759664.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724964 target range: 80.062119 and range: 80.50 m.
2025-08-21T07:01:04.826Z,1755759664.826 [DAT](INFO): DAT read: 07:01:03.0307 LVL= 20576, 32753, 21602, 32755, AGC= 64, IDX= 414,-0.04, 0.182,-1.652, 0.110,-0.187, PHS= 0.471,-1.420, 0.253, RAW= 144.0,   7.8, CAL= 143.5,   8.5, ROT=   6.5,  -8.5

2025-08-21T07:01:04.827Z,1755759664.827 [DAT](INFO): got valid direction response:
 07:01:03.0307 LVL= 20576, 32753, 21602, 32755, AGC= 64, IDX= 414,-0.04, 0.182,-1.652, 0.110,-0.187, PHS= 0.471,-1.420, 0.253, RAW= 144.0,   7.8, CAL= 143.5,   8.5, ROT=   6.5,  -8.5

2025-08-21T07:01:04.828Z,1755759664.828 [DAT](INFO): DAT read: Bearing 269.0,   5.7 (Local)

2025-08-21T07:01:04.829Z,1755759664.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.0,   5.7 (Local)

2025-08-21T07:01:04.830Z,1755759664.830 [DAT](INFO): DAT read: Range 11 to 50 : 78.6 m  (Round-trip  104.8 ms) speed  0.4 m/s

2025-08-21T07:01:04.831Z,1755759664.831 [DAT](INFO): DAT read: user:2036>

2025-08-21T07:01:04.832Z,1755759664.832 [DAT](INFO): DAT read: Tx time:07:01:04.1217

2025-08-21T07:01:04.832Z,1755759664.832 [DAT](INFO): Ping request sent.
2025-08-21T07:01:04.832Z,1755759664.832 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:04.833Z,1755759664.833 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:04.833Z,1755759664.833 [DAT](INFO): direction in FSK: [0.982658,0.111960,0.147809]
2025-08-21T07:01:04.834Z,1755759664.834 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:04.834Z,1755759664.834 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:04.837Z,1755759664.837 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:04.837Z,1755759664.837 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:05.248Z,1755759665.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.599998 m,
      deltaT: 3.525137 s,
      deltaX: -1.900002 m,
      approachRate: -0.538987 m/s,
      rangeRepo size: 4

2025-08-21T07:01:05.250Z,1755759665.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 78.172089 m,
      bearing: 105.294296 deg,
      lat: 36.779339 deg,
      lon: -121.859425 deg,
      deltaT: 3.525137 s,
      deltaX: -1.890030 m,
      approachRate: -0.536158 m/s,
      posRepo size: 4

2025-08-21T07:01:05.255Z,1755759665.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m.
2025-08-21T07:01:05.258Z,1755759665.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.172089 m,
      nav range: 77.285347 m,
      bearing: 104.553033 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015258 deg/s,
      cmd heading: 98.833131 deg,
      new cmd heading: 98.852721 deg.

2025-08-21T07:01:05.259Z,1755759665.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.725305 target range: 78.172089 and range: 78.60 m.
2025-08-21T07:01:05.632Z,1755759665.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m.
2025-08-21T07:01:05.656Z,1755759665.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.172089 m,
      nav range: 77.058006 m,
      bearing: 104.560580 deg,
      approach rate: -0.560252 m/s,
      LOS rate: 0.018653 deg/s,
      cmd heading: 98.852720 deg,
      new cmd heading: 98.875427 deg.

2025-08-21T07:01:05.657Z,1755759665.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.725702 target range: 78.172089 and range: 78.60 m.
2025-08-21T07:01:06.022Z,1755759666.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m.
2025-08-21T07:01:06.025Z,1755759666.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.172089 m,
      nav range: 76.847260 m,
      bearing: 104.567516 deg,
      approach rate: -0.540873 m/s,
      LOS rate: 0.017850 deg/s,
      cmd heading: 98.875430 deg,
      new cmd heading: 98.896296 deg.

2025-08-21T07:01:06.026Z,1755759666.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726066 target range: 78.172089 and range: 78.60 m.
2025-08-21T07:01:06.451Z,1755759666.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:06.453Z,1755759666.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m.
2025-08-21T07:01:06.456Z,1755759666.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.172089 m,
      nav range: 76.611671 m,
      bearing: 104.576247 deg,
      approach rate: -0.546604 m/s,
      LOS rate: 0.020320 deg/s,
      cmd heading: 98.896297 deg,
      new cmd heading: 98.922570 deg.

2025-08-21T07:01:06.457Z,1755759666.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726525 target range: 78.172089 and range: 78.60 m.
2025-08-21T07:01:06.584Z,1755759666.584 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:06.584Z,1755759666.584 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:06.584Z,1755759666.584 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:06.830Z,1755759666.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m.
2025-08-21T07:01:06.833Z,1755759666.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.172089 m,
      nav range: 76.404922 m,
      bearing: 104.583851 deg,
      approach rate: -0.548234 m/s,
      LOS rate: 0.020219 deg/s,
      cmd heading: 98.922572 deg,
      new cmd heading: 98.945447 deg.

2025-08-21T07:01:06.834Z,1755759666.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726924 target range: 78.172089 and range: 78.60 m.
2025-08-21T07:01:06.836Z,1755759666.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004060
2025-08-21T07:01:07.088Z,1755759667.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256069
2025-08-21T07:01:07.245Z,1755759667.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m.
2025-08-21T07:01:07.248Z,1755759667.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.172089 m,
      nav range: 76.177727 m,
      bearing: 104.592118 deg,
      approach rate: -0.547424 m/s,
      LOS rate: 0.019978 deg/s,
      cmd heading: 98.945447 deg,
      new cmd heading: 98.970321 deg.

2025-08-21T07:01:07.249Z,1755759667.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.727358 target range: 78.172089 and range: 78.60 m.
2025-08-21T07:01:07.344Z,1755759667.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510751
2025-08-21T07:01:07.592Z,1755759667.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759951
2025-08-21T07:01:07.659Z,1755759667.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m.
2025-08-21T07:01:07.661Z,1755759667.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.172089 m,
      nav range: 75.953438 m,
      bearing: 104.599089 deg,
      approach rate: -0.542619 m/s,
      LOS rate: 0.016914 deg/s,
      cmd heading: 98.970322 deg,
      new cmd heading: 98.991297 deg.

2025-08-21T07:01:07.662Z,1755759667.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.727724 target range: 78.172089 and range: 78.60 m.
2025-08-21T07:01:07.847Z,1755759667.847 [DAT](INFO): DAT read: Rx Time:07:01:06.6281

2025-08-21T07:01:07.848Z,1755759667.848 [DAT](INFO): Rx dataTimestamp_ set to:1755759667.847397
2025-08-21T07:01:07.848Z,1755759667.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015979
2025-08-21T07:01:08.062Z,1755759668.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.17 m.
2025-08-21T07:01:08.081Z,1755759668.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 78.172089 m,
      nav range: 75.737785 m,
      bearing: 104.605808 deg,
      approach rate: -0.534799 m/s,
      LOS rate: 0.016710 deg/s,
      cmd heading: 98.991298 deg,
      new cmd heading: 99.011512 deg.

2025-08-21T07:01:08.082Z,1755759668.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.728077 target range: 78.172089 and range: 78.60 m.
2025-08-21T07:01:08.096Z,1755759668.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264051
2025-08-21T07:01:08.359Z,1755759668.359 [DAT](INFO): DAT read: 07:01:06.6281 LVL= 27120, 32753, 29170, 32755, AGC= 67, IDX= 419,-0.17, 1.766,-0.065, 1.693, 1.427, PHS= 0.441,-1.447, 0.222, RAW= 143.9,   8.8, CAL= 143.5,   9.6, ROT=   6.5,  -9.6

2025-08-21T07:01:08.360Z,1755759668.360 [DAT](INFO): got valid direction response:
 07:01:06.6281 LVL= 27120, 32753, 29170, 32755, AGC= 67, IDX= 419,-0.17, 1.766,-0.065, 1.693, 1.427, PHS= 0.441,-1.447, 0.222, RAW= 143.9,   8.8, CAL= 143.5,   9.6, ROT=   6.5,  -9.6

2025-08-21T07:01:08.361Z,1755759668.361 [DAT](INFO): DAT read: Bearing 270.5,   5.6 (Local)

2025-08-21T07:01:08.362Z,1755759668.362 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.5,   5.6 (Local)

2025-08-21T07:01:08.363Z,1755759668.363 [DAT](INFO): DAT read: Range 11 to 50 : 76.6 m  (Round-trip  102.2 ms) speed  0.6 m/s

2025-08-21T07:01:08.364Z,1755759668.364 [DAT](INFO): DAT read: user:2037>

2025-08-21T07:01:08.365Z,1755759668.365 [DAT](INFO): DAT read: Tx time:07:01:07.7217

2025-08-21T07:01:08.365Z,1755759668.365 [DAT](INFO): Ping request sent.
2025-08-21T07:01:08.366Z,1755759668.366 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:08.367Z,1755759668.367 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:08.377Z,1755759668.377 [DAT](INFO): direction in FSK: [0.979658,0.111618,0.166769]
2025-08-21T07:01:08.378Z,1755759668.378 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:08.379Z,1755759668.379 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:08.440Z,1755759668.440 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:08.441Z,1755759668.441 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:08.509Z,1755759668.509 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.80,  80.84,  79.14,  79.82
2025-08-21T07:01:08.574Z,1755759668.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.599998 m,
      deltaT: 3.529486 s,
      deltaX: -2.000000 m,
      approachRate: -0.566655 m/s,
      rangeRepo size: 4

2025-08-21T07:01:08.580Z,1755759668.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.182419 m,
      bearing: 105.485745 deg,
      lat: 36.779329 deg,
      lon: -121.859427 deg,
      deltaT: 3.529486 s,
      deltaX: -1.989670 m,
      approachRate: -0.563728 m/s,
      posRepo size: 4

2025-08-21T07:01:08.581Z,1755759668.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.18 m.
2025-08-21T07:01:08.587Z,1755759668.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.182419 m,
      nav range: 75.537460 m,
      bearing: 105.418170 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016710 deg/s,
      cmd heading: 99.011515 deg,
      new cmd heading: 99.037137 deg.

2025-08-21T07:01:08.588Z,1755759668.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.728524 target range: 76.182419 and range: 76.60 m.
2025-08-21T07:01:08.928Z,1755759668.928 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:08.930Z,1755759668.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.18 m.
2025-08-21T07:01:08.933Z,1755759668.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.182419 m,
      nav range: 75.326447 m,
      bearing: 105.426948 deg,
      approach rate: -0.590716 m/s,
      LOS rate: 0.024642 deg/s,
      cmd heading: 99.037135 deg,
      new cmd heading: 99.063543 deg.

2025-08-21T07:01:08.934Z,1755759668.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.728985 target range: 76.182419 and range: 76.60 m.
2025-08-21T07:01:09.104Z,1755759669.104 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:09.104Z,1755759669.104 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:09.105Z,1755759669.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:09.329Z,1755759669.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.18 m.
2025-08-21T07:01:09.332Z,1755759669.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.182419 m,
      nav range: 75.109871 m,
      bearing: 105.435956 deg,
      approach rate: -0.542649 m/s,
      LOS rate: 0.022636 deg/s,
      cmd heading: 99.063541 deg,
      new cmd heading: 99.090643 deg.

2025-08-21T07:01:09.333Z,1755759669.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.729458 target range: 76.182419 and range: 76.60 m.
2025-08-21T07:01:09.356Z,1755759669.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990963
2025-08-21T07:01:09.609Z,1755759669.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243251
2025-08-21T07:01:09.765Z,1755759669.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.18 m.
2025-08-21T07:01:09.768Z,1755759669.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.182419 m,
      nav range: 74.873032 m,
      bearing: 105.445903 deg,
      approach rate: -0.543737 m/s,
      LOS rate: 0.022910 deg/s,
      cmd heading: 99.090643 deg,
      new cmd heading: 99.120580 deg.

2025-08-21T07:01:09.769Z,1755759669.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.729980 target range: 76.182419 and range: 76.60 m.
2025-08-21T07:01:09.861Z,1755759669.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495974
2025-08-21T07:01:10.112Z,1755759670.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746956
2025-08-21T07:01:10.154Z,1755759670.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.18 m.
2025-08-21T07:01:10.158Z,1755759670.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.182419 m,
      nav range: 74.664528 m,
      bearing: 105.454708 deg,
      approach rate: -0.536088 m/s,
      LOS rate: 0.022702 deg/s,
      cmd heading: 99.120579 deg,
      new cmd heading: 99.147069 deg.

2025-08-21T07:01:10.160Z,1755759670.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.730443 target range: 76.182419 and range: 76.60 m.
2025-08-21T07:01:10.368Z,1755759670.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002288
2025-08-21T07:01:10.585Z,1755759670.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.18 m.
2025-08-21T07:01:10.592Z,1755759670.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.182419 m,
      nav range: 74.449219 m,
      bearing: 105.463783 deg,
      approach rate: -0.498919 m/s,
      LOS rate: 0.021089 deg/s,
      cmd heading: 99.147067 deg,
      new cmd heading: 99.174369 deg.

2025-08-21T07:01:10.593Z,1755759670.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.730919 target range: 76.182419 and range: 76.60 m.
2025-08-21T07:01:10.616Z,1755759670.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250979
2025-08-21T07:01:10.869Z,1755759670.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503444
2025-08-21T07:01:10.951Z,1755759670.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:10.953Z,1755759670.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.18 m.
2025-08-21T07:01:10.956Z,1755759670.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.182419 m,
      nav range: 74.253120 m,
      bearing: 105.472081 deg,
      approach rate: -0.533244 m/s,
      LOS rate: 0.022624 deg/s,
      cmd heading: 99.174367 deg,
      new cmd heading: 99.199327 deg.

2025-08-21T07:01:10.957Z,1755759670.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.731355 target range: 76.182419 and range: 76.60 m.
2025-08-21T07:01:11.120Z,1755759671.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754754
2025-08-21T07:01:11.375Z,1755759671.375 [DAT](INFO): DAT read: Rx Time:07:01:10.2255

2025-08-21T07:01:11.376Z,1755759671.376 [DAT](INFO): Rx dataTimestamp_ set to:1755759671.375432
2025-08-21T07:01:11.376Z,1755759671.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010854
2025-08-21T07:01:11.392Z,1755759671.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.18 m.
2025-08-21T07:01:11.413Z,1755759671.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.182419 m,
      nav range: 74.043190 m,
      bearing: 105.481013 deg,
      approach rate: -0.477988 m/s,
      LOS rate: 0.020394 deg/s,
      cmd heading: 99.199325 deg,
      new cmd heading: 99.226196 deg.

2025-08-21T07:01:11.421Z,1755759671.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.731824 target range: 76.182419 and range: 76.60 m.
2025-08-21T07:01:11.624Z,1755759671.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258946
2025-08-21T07:01:11.812Z,1755759671.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.18 m.
2025-08-21T07:01:11.814Z,1755759671.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.182419 m,
      nav range: 73.797691 m,
      bearing: 105.491687 deg,
      approach rate: -0.585043 m/s,
      LOS rate: 0.025522 deg/s,
      cmd heading: 99.226195 deg,
      new cmd heading: 99.258323 deg.

2025-08-21T07:01:11.816Z,1755759671.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.732385 target range: 76.182419 and range: 76.60 m.
2025-08-21T07:01:11.877Z,1755759671.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511483
2025-08-21T07:01:12.134Z,1755759672.134 [DAT](INFO): DAT read: 07:01:10.2255 LVL= 22640, 30929, 22866, 32755, AGC= 65, IDX= 409, 0.07,-1.322, 3.134,-1.390,-1.690, PHS= 0.469,-1.415, 0.255, RAW= 144.0,   7.8, CAL= 143.6,   8.5, ROT=   6.4,  -8.5

2025-08-21T07:01:12.135Z,1755759672.135 [DAT](INFO): got valid direction response:
 07:01:10.2255 LVL= 22640, 30929, 22866, 32755, AGC= 65, IDX= 409, 0.07,-1.322, 3.134,-1.390,-1.690, PHS= 0.469,-1.415, 0.255, RAW= 144.0,   7.8, CAL= 143.6,   8.5, ROT=   6.4,  -8.5

2025-08-21T07:01:12.136Z,1755759672.136 [DAT](INFO): DAT read: Bearing 270.0,   5.1 (Local)

2025-08-21T07:01:12.137Z,1755759672.137 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.0,   5.1 (Local)

2025-08-21T07:01:12.138Z,1755759672.138 [DAT](INFO): DAT read: Range 11 to 50 : 74.7 m  (Round-trip  99.7 ms) speed  0.4 m/s

2025-08-21T07:01:12.139Z,1755759672.139 [DAT](INFO): DAT read: user:2038>

2025-08-21T07:01:12.140Z,1755759672.140 [DAT](INFO): DAT read: Tx time:07:01:11.3217

2025-08-21T07:01:12.141Z,1755759672.141 [DAT](INFO): Ping request sent.
2025-08-21T07:01:12.141Z,1755759672.141 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:12.142Z,1755759672.142 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:12.143Z,1755759672.143 [DAT](INFO): direction in FSK: [0.982852,0.110245,0.147809]
2025-08-21T07:01:12.143Z,1755759672.143 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:12.144Z,1755759672.144 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:12.156Z,1755759672.156 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:12.157Z,1755759672.157 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:12.400Z,1755759672.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 74.699997 m,
      deltaT: 3.778646 s,
      deltaX: -1.900002 m,
      approachRate: -0.502826 m/s,
      rangeRepo size: 4

2025-08-21T07:01:12.402Z,1755759672.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 74.292480 m,
      bearing: 105.510096 deg,
      lat: 36.779329 deg,
      lon: -121.859424 deg,
      deltaT: 3.778646 s,
      deltaX: -1.889938 m,
      approachRate: -0.500163 m/s,
      posRepo size: 4

2025-08-21T07:01:12.403Z,1755759672.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.29 m.
2025-08-21T07:01:12.405Z,1755759672.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.292480 m,
      nav range: 73.718971 m,
      bearing: 105.499872 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025522 deg/s,
      cmd heading: 99.258324 deg,
      new cmd heading: 99.303258 deg.

2025-08-21T07:01:12.406Z,1755759672.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.733169 target range: 74.292480 and range: 74.70 m.
2025-08-21T07:01:12.801Z,1755759672.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.29 m.
2025-08-21T07:01:12.809Z,1755759672.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.292480 m,
      nav range: 73.508743 m,
      bearing: 105.507049 deg,
      approach rate: -0.522060 m/s,
      LOS rate: 0.017872 deg/s,
      cmd heading: 99.303260 deg,
      new cmd heading: 99.324851 deg.

2025-08-21T07:01:12.810Z,1755759672.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.733546 target range: 74.292480 and range: 74.70 m.
2025-08-21T07:01:13.214Z,1755759673.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:13.216Z,1755759673.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.29 m.
2025-08-21T07:01:13.219Z,1755759673.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.292480 m,
      nav range: 73.278801 m,
      bearing: 105.514883 deg,
      approach rate: -0.554067 m/s,
      LOS rate: 0.018937 deg/s,
      cmd heading: 99.324850 deg,
      new cmd heading: 99.348427 deg.

2025-08-21T07:01:13.220Z,1755759673.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.733957 target range: 74.292480 and range: 74.70 m.
2025-08-21T07:01:13.388Z,1755759673.388 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:13.388Z,1755759673.388 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:13.388Z,1755759673.388 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:13.635Z,1755759673.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.29 m.
2025-08-21T07:01:13.638Z,1755759673.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.292480 m,
      nav range: 73.061768 m,
      bearing: 105.521737 deg,
      approach rate: -0.539212 m/s,
      LOS rate: 0.017078 deg/s,
      cmd heading: 99.348428 deg,
      new cmd heading: 99.369050 deg.

2025-08-21T07:01:13.639Z,1755759673.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.734317 target range: 74.292480 and range: 74.70 m.
2025-08-21T07:01:13.640Z,1755759673.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499338
2025-08-21T07:01:13.892Z,1755759673.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751428
2025-08-21T07:01:14.030Z,1755759674.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.29 m.
2025-08-21T07:01:14.033Z,1755759674.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.292480 m,
      nav range: 72.843201 m,
      bearing: 105.528558 deg,
      approach rate: -0.532320 m/s,
      LOS rate: 0.016662 deg/s,
      cmd heading: 99.369048 deg,
      new cmd heading: 99.389572 deg.

2025-08-21T07:01:14.034Z,1755759674.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.734675 target range: 74.292480 and range: 74.70 m.
2025-08-21T07:01:14.145Z,1755759674.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004004
2025-08-21T07:01:14.396Z,1755759674.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255260
2025-08-21T07:01:14.438Z,1755759674.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.29 m.
2025-08-21T07:01:14.446Z,1755759674.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.292480 m,
      nav range: 72.632233 m,
      bearing: 105.534994 deg,
      approach rate: -0.516510 m/s,
      LOS rate: 0.015804 deg/s,
      cmd heading: 99.389573 deg,
      new cmd heading: 99.408938 deg.

2025-08-21T07:01:14.447Z,1755759674.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.735013 target range: 74.292480 and range: 74.70 m.
2025-08-21T07:01:14.648Z,1755759674.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507339
2025-08-21T07:01:14.882Z,1755759674.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.29 m.
2025-08-21T07:01:14.885Z,1755759674.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.292480 m,
      nav range: 72.389732 m,
      bearing: 105.545368 deg,
      approach rate: -0.546613 m/s,
      LOS rate: 0.023462 deg/s,
      cmd heading: 99.408936 deg,
      new cmd heading: 99.440163 deg.

2025-08-21T07:01:14.885Z,1755759674.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.735558 target range: 74.292480 and range: 74.70 m.
2025-08-21T07:01:14.900Z,1755759674.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759351
2025-08-21T07:01:15.153Z,1755759675.153 [DAT](INFO): DAT read: Rx Time:07:01:13.8228

2025-08-21T07:01:15.154Z,1755759675.154 [DAT](INFO): Rx dataTimestamp_ set to:1755759675.153454
2025-08-21T07:01:15.155Z,1755759675.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013691
2025-08-21T07:01:15.244Z,1755759675.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:15.246Z,1755759675.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.29 m.
2025-08-21T07:01:15.249Z,1755759675.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 74.292480 m,
      nav range: 72.195847 m,
      bearing: 105.553650 deg,
      approach rate: -0.532162 m/s,
      LOS rate: 0.022794 deg/s,
      cmd heading: 99.440164 deg,
      new cmd heading: 99.465078 deg.

2025-08-21T07:01:15.250Z,1755759675.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.735993 target range: 74.292480 and range: 74.70 m.
2025-08-21T07:01:15.404Z,1755759675.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263340
2025-08-21T07:01:15.668Z,1755759675.668 [DAT](INFO): DAT read: 07:01:13.8228 LVL= 21744, 31537, 22562, 32755, AGC= 64, IDX= 414, 0.24, 3.136, 1.324, 3.081, 2.774, PHS= 0.465,-1.404, 0.264, RAW= 144.4,   7.7, CAL= 143.9,   8.4, ROT=   6.1,  -8.4

2025-08-21T07:01:15.670Z,1755759675.670 [DAT](INFO): got valid direction response:
 07:01:13.8228 LVL= 21744, 31537, 22562, 32755, AGC= 64, IDX= 414, 0.24, 3.136, 1.324, 3.081, 2.774, PHS= 0.465,-1.404, 0.264, RAW= 144.4,   7.7, CAL= 143.9,   8.4, ROT=   6.1,  -8.4

2025-08-21T07:01:15.673Z,1755759675.673 [DAT](INFO): DAT read: Bearing 270.2,   4.7 (Local)

2025-08-21T07:01:15.674Z,1755759675.674 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.2,   4.7 (Local)

2025-08-21T07:01:15.676Z,1755759675.676 [DAT](INFO): DAT read: Range 11 to 50 : 72.7 m  (Round-trip  97.0 ms) speed  0.4 m/s

2025-08-21T07:01:15.678Z,1755759675.678 [DAT](INFO): DAT read: user:2039>

2025-08-21T07:01:15.688Z,1755759675.688 [DAT](INFO): DAT read: Tx time:07:01:14.9216

2025-08-21T07:01:15.689Z,1755759675.689 [DAT](INFO): Ping request sent.
2025-08-21T07:01:15.689Z,1755759675.689 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:15.689Z,1755759675.689 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:15.704Z,1755759675.704 [DAT](INFO): direction in FSK: [0.983671,0.105124,0.146083]
2025-08-21T07:01:15.704Z,1755759675.704 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:15.704Z,1755759675.704 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:15.720Z,1755759675.720 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:15.720Z,1755759675.720 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:15.753Z,1755759675.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 72.699997 m,
      deltaT: 3.527823 s,
      deltaX: -2.000000 m,
      approachRate: -0.566922 m/s,
      rangeRepo size: 4

2025-08-21T07:01:15.755Z,1755759675.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 72.303658 m,
      bearing: 105.437434 deg,
      lat: 36.779329 deg,
      lon: -121.859425 deg,
      deltaT: 3.527823 s,
      deltaX: -1.988823 m,
      approachRate: -0.563754 m/s,
      posRepo size: 4

2025-08-21T07:01:15.767Z,1755759675.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-08-21T07:01:15.770Z,1755759675.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.303658 m,
      nav range: 71.888741 m,
      bearing: 105.577110 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022794 deg/s,
      cmd heading: 99.465081 deg,
      new cmd heading: 99.499678 deg.

2025-08-21T07:01:15.771Z,1755759675.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.736597 target range: 72.303658 and range: 72.70 m.
2025-08-21T07:01:16.128Z,1755759676.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-08-21T07:01:16.130Z,1755759676.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.303658 m,
      nav range: 71.669540 m,
      bearing: 105.587148 deg,
      approach rate: -0.586142 m/s,
      LOS rate: 0.026924 deg/s,
      cmd heading: 99.499675 deg,
      new cmd heading: 99.529882 deg.

2025-08-21T07:01:16.131Z,1755759676.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.737124 target range: 72.303658 and range: 72.70 m.
2025-08-21T07:01:16.586Z,1755759676.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-08-21T07:01:16.593Z,1755759676.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.303658 m,
      nav range: 71.416946 m,
      bearing: 105.598667 deg,
      approach rate: -0.548686 m/s,
      LOS rate: 0.025111 deg/s,
      cmd heading: 99.529879 deg,
      new cmd heading: 99.564559 deg.

2025-08-21T07:01:16.594Z,1755759676.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.737729 target range: 72.303658 and range: 72.70 m.
2025-08-21T07:01:16.952Z,1755759676.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-08-21T07:01:16.955Z,1755759676.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.303658 m,
      nav range: 71.208252 m,
      bearing: 105.607338 deg,
      approach rate: -0.570065 m/s,
      LOS rate: 0.023754 deg/s,
      cmd heading: 99.564562 deg,
      new cmd heading: 99.590650 deg.

2025-08-21T07:01:16.956Z,1755759676.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.738185 target range: 72.303658 and range: 72.70 m.
2025-08-21T07:01:17.333Z,1755759677.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:17.336Z,1755759677.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-08-21T07:01:17.338Z,1755759677.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.303658 m,
      nav range: 71.001732 m,
      bearing: 105.615940 deg,
      approach rate: -0.539114 m/s,
      LOS rate: 0.022521 deg/s,
      cmd heading: 99.590654 deg,
      new cmd heading: 99.616535 deg.

2025-08-21T07:01:17.359Z,1755759677.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.738636 target range: 72.303658 and range: 72.70 m.
2025-08-21T07:01:17.421Z,1755759677.421 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:17.421Z,1755759677.421 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:17.421Z,1755759677.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:17.674Z,1755759677.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984986
2025-08-21T07:01:17.763Z,1755759677.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-08-21T07:01:17.766Z,1755759677.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.303658 m,
      nav range: 70.773735 m,
      bearing: 105.625635 deg,
      approach rate: -0.532936 m/s,
      LOS rate: 0.022733 deg/s,
      cmd heading: 99.616533 deg,
      new cmd heading: 99.645710 deg.

2025-08-21T07:01:17.767Z,1755759677.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.739146 target range: 72.303658 and range: 72.70 m.
2025-08-21T07:01:17.924Z,1755759677.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235502
2025-08-21T07:01:18.153Z,1755759678.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-08-21T07:01:18.159Z,1755759678.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.303658 m,
      nav range: 70.567917 m,
      bearing: 105.634372 deg,
      approach rate: -0.528267 m/s,
      LOS rate: 0.022493 deg/s,
      cmd heading: 99.645712 deg,
      new cmd heading: 99.672002 deg.

2025-08-21T07:01:18.161Z,1755759678.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.739605 target range: 72.303658 and range: 72.70 m.
2025-08-21T07:01:18.178Z,1755759678.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.488695
2025-08-21T07:01:18.428Z,1755759678.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739523
2025-08-21T07:01:18.613Z,1755759678.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-08-21T07:01:18.620Z,1755759678.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.303658 m,
      nav range: 70.324623 m,
      bearing: 105.644724 deg,
      approach rate: -0.528908 m/s,
      LOS rate: 0.022581 deg/s,
      cmd heading: 99.672001 deg,
      new cmd heading: 99.703162 deg.

2025-08-21T07:01:18.621Z,1755759678.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.740148 target range: 72.303658 and range: 72.70 m.
2025-08-21T07:01:18.683Z,1755759678.683 [DAT](INFO): DAT read: Rx Time:07:01:17.4202

2025-08-21T07:01:18.684Z,1755759678.684 [DAT](INFO): Rx dataTimestamp_ set to:1755759678.682918
2025-08-21T07:01:18.684Z,1755759678.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.995448
2025-08-21T07:01:18.932Z,1755759678.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243560
2025-08-21T07:01:19.013Z,1755759679.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.30 m.
2025-08-21T07:01:19.016Z,1755759679.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 72.303658 m,
      nav range: 70.104469 m,
      bearing: 105.655880 deg,
      approach rate: -0.549691 m/s,
      LOS rate: 0.027942 deg/s,
      cmd heading: 99.703160 deg,
      new cmd heading: 99.736733 deg.

2025-08-21T07:01:19.017Z,1755759679.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.740734 target range: 72.303658 and range: 72.70 m.
2025-08-21T07:01:19.193Z,1755759679.193 [DAT](INFO): DAT read: 07:01:17.4202 LVL= 21728, 32753, 25282, 32755, AGC= 65, IDX= 419, 0.07,-2.846, 1.616,-2.901, 3.077, PHS= 0.462,-1.416, 0.260, RAW= 144.4,   7.8, CAL= 143.9,   8.5, ROT=   6.1,  -8.5

2025-08-21T07:01:19.194Z,1755759679.194 [DAT](INFO): got valid direction response:
 07:01:17.4202 LVL= 21728, 32753, 25282, 32755, AGC= 65, IDX= 419, 0.07,-2.846, 1.616,-2.901, 3.077, PHS= 0.462,-1.416, 0.260, RAW= 144.4,   7.8, CAL= 143.9,   8.5, ROT=   6.1,  -8.5

2025-08-21T07:01:19.196Z,1755759679.196 [DAT](INFO): DAT read: Bearing 270.5,   4.5 (Local)

2025-08-21T07:01:19.196Z,1755759679.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.5,   4.5 (Local)

2025-08-21T07:01:19.197Z,1755759679.197 [DAT](INFO): DAT read: Range 11 to 50 : 70.8 m  (Round-trip  94.4 ms) speed  0.4 m/s

2025-08-21T07:01:19.198Z,1755759679.198 [DAT](INFO): DAT read: user:2040>

2025-08-21T07:01:19.199Z,1755759679.199 [DAT](INFO): DAT read: Tx time:07:01:18.5216

2025-08-21T07:01:19.199Z,1755759679.199 [DAT](INFO): Ping request sent.
2025-08-21T07:01:19.199Z,1755759679.199 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:19.200Z,1755759679.200 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:19.201Z,1755759679.201 [DAT](INFO): direction in FSK: [0.983416,0.105097,0.147809]
2025-08-21T07:01:19.201Z,1755759679.201 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:19.201Z,1755759679.201 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:19.209Z,1755759679.209 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:19.209Z,1755759679.209 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:19.420Z,1755759679.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 70.800003 m,
      deltaT: 3.530894 s,
      deltaX: -1.899994 m,
      approachRate: -0.538106 m/s,
      rangeRepo size: 4

2025-08-21T07:01:19.422Z,1755759679.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.413696 m,
      bearing: 105.555821 deg,
      lat: 36.779329 deg,
      lon: -121.859424 deg,
      deltaT: 3.530894 s,
      deltaX: -1.889961 m,
      approachRate: -0.535264 m/s,
      posRepo size: 4

2025-08-21T07:01:19.423Z,1755759679.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.41 m.
2025-08-21T07:01:19.429Z,1755759679.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.413696 m,
      nav range: 69.934074 m,
      bearing: 105.610063 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.027942 deg/s,
      cmd heading: 99.736731 deg,
      new cmd heading: 99.770749 deg.

2025-08-21T07:01:19.430Z,1755759679.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.741328 target range: 70.413696 and range: 70.80 m.
2025-08-21T07:01:19.804Z,1755759679.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:19.806Z,1755759679.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.41 m.
2025-08-21T07:01:19.809Z,1755759679.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.413696 m,
      nav range: 69.718170 m,
      bearing: 105.619011 deg,
      approach rate: -0.557774 m/s,
      LOS rate: 0.023187 deg/s,
      cmd heading: 99.770752 deg,
      new cmd heading: 99.797678 deg.

2025-08-21T07:01:19.810Z,1755759679.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.741798 target range: 70.413696 and range: 70.80 m.
2025-08-21T07:01:19.940Z,1755759679.940 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:19.941Z,1755759679.941 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:19.941Z,1755759679.941 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:20.192Z,1755759680.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992791
2025-08-21T07:01:20.219Z,1755759680.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.41 m.
2025-08-21T07:01:20.222Z,1755759680.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.413696 m,
      nav range: 69.498634 m,
      bearing: 105.628166 deg,
      approach rate: -0.532006 m/s,
      LOS rate: 0.022256 deg/s,
      cmd heading: 99.797677 deg,
      new cmd heading: 99.825229 deg.

2025-08-21T07:01:20.223Z,1755759680.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.742279 target range: 70.413696 and range: 70.80 m.
2025-08-21T07:01:20.445Z,1755759680.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245449
2025-08-21T07:01:20.690Z,1755759680.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.41 m.
2025-08-21T07:01:20.696Z,1755759680.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496957
2025-08-21T07:01:20.698Z,1755759680.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.413696 m,
      nav range: 69.265717 m,
      bearing: 105.638991 deg,
      approach rate: -0.494346 m/s,
      LOS rate: 0.023053 deg/s,
      cmd heading: 99.825230 deg,
      new cmd heading: 99.857815 deg.

2025-08-21T07:01:20.704Z,1755759680.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.742848 target range: 70.413696 and range: 70.80 m.
2025-08-21T07:01:20.948Z,1755759680.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748823
2025-08-21T07:01:21.002Z,1755759681.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.41 m.
2025-08-21T07:01:21.005Z,1755759681.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.413696 m,
      nav range: 69.086594 m,
      bearing: 105.647374 deg,
      approach rate: -0.573627 m/s,
      LOS rate: 0.026915 deg/s,
      cmd heading: 99.857816 deg,
      new cmd heading: 99.883030 deg.

2025-08-21T07:01:21.006Z,1755759681.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.743288 target range: 70.413696 and range: 70.80 m.
2025-08-21T07:01:21.201Z,1755759681.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001514
2025-08-21T07:01:21.397Z,1755759681.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.41 m.
2025-08-21T07:01:21.401Z,1755759681.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.413696 m,
      nav range: 68.878708 m,
      bearing: 105.657039 deg,
      approach rate: -0.526136 m/s,
      LOS rate: 0.024534 deg/s,
      cmd heading: 99.883027 deg,
      new cmd heading: 99.912108 deg.

2025-08-21T07:01:21.402Z,1755759681.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.743795 target range: 70.413696 and range: 70.80 m.
2025-08-21T07:01:21.454Z,1755759681.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254165
2025-08-21T07:01:21.704Z,1755759681.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504796
2025-08-21T07:01:21.827Z,1755759681.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:21.833Z,1755759681.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.41 m.
2025-08-21T07:01:21.836Z,1755759681.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.413696 m,
      nav range: 68.649078 m,
      bearing: 105.665685 deg,
      approach rate: -0.526928 m/s,
      LOS rate: 0.019908 deg/s,
      cmd heading: 99.912110 deg,
      new cmd heading: 99.938137 deg.

2025-08-21T07:01:21.837Z,1755759681.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.744250 target range: 70.413696 and range: 70.80 m.
2025-08-21T07:01:21.956Z,1755759681.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757068
2025-08-21T07:01:22.208Z,1755759682.208 [DAT](INFO): DAT read: Rx Time:07:01:21.0177

2025-08-21T07:01:22.209Z,1755759682.209 [DAT](INFO): Rx dataTimestamp_ set to:1755759682.208590
2025-08-21T07:01:22.209Z,1755759682.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010010
2025-08-21T07:01:22.213Z,1755759682.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.41 m.
2025-08-21T07:01:22.216Z,1755759682.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.413696 m,
      nav range: 68.445778 m,
      bearing: 105.673328 deg,
      approach rate: -0.534951 m/s,
      LOS rate: 0.020170 deg/s,
      cmd heading: 99.938139 deg,
      new cmd heading: 99.961135 deg.

2025-08-21T07:01:22.217Z,1755759682.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.744651 target range: 70.413696 and range: 70.80 m.
2025-08-21T07:01:22.461Z,1755759682.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261451
2025-08-21T07:01:22.742Z,1755759682.742 [DAT](INFO): DAT read: 07:01:21.0177 LVL= 21904, 32753, 22930, 32755, AGC= 65, IDX= 410, 0.40, 0.605,-1.202, 0.554, 0.232, PHS= 0.475,-1.389, 0.278, RAW= 144.5,   7.2, CAL= 144.0,   7.9, ROT=   6.0,  -7.9

2025-08-21T07:01:22.743Z,1755759682.743 [DAT](INFO): got valid direction response:
 07:01:21.0177 LVL= 21904, 32753, 22930, 32755, AGC= 65, IDX= 410, 0.40, 0.605,-1.202, 0.554, 0.232, PHS= 0.475,-1.389, 0.278, RAW= 144.5,   7.2, CAL= 144.0,   7.9, ROT=   6.0,  -7.9

2025-08-21T07:01:22.748Z,1755759682.748 [DAT](INFO): DAT read: Bearing 270.3,   4.3 (Local)

2025-08-21T07:01:22.748Z,1755759682.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.3,   4.3 (Local)

2025-08-21T07:01:22.750Z,1755759682.750 [DAT](INFO): DAT read: Range 11 to 50 : 68.9 m  (Round-trip  91.9 ms) speed  0.4 m/s

2025-08-21T07:01:22.750Z,1755759682.750 [DAT](INFO): DAT read: user:2041>

2025-08-21T07:01:22.759Z,1755759682.759 [DAT](INFO): DAT read: Tx time:07:01:22.1216

2025-08-21T07:01:22.760Z,1755759682.760 [DAT](INFO): Ping request sent.
2025-08-21T07:01:22.760Z,1755759682.760 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:22.760Z,1755759682.760 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:22.761Z,1755759682.761 [DAT](INFO): direction in FSK: [0.985083,0.103536,0.137445]
2025-08-21T07:01:22.761Z,1755759682.761 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:22.762Z,1755759682.762 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:22.769Z,1755759682.769 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:22.769Z,1755759682.769 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:22.804Z,1755759682.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.900002 m,
      deltaT: 3.526960 s,
      deltaX: -1.900002 m,
      approachRate: -0.538708 m/s,
      rangeRepo size: 4

2025-08-21T07:01:22.806Z,1755759682.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.523384 m,
      bearing: 105.619015 deg,
      lat: 36.779330 deg,
      lon: -121.859424 deg,
      deltaT: 3.526960 s,
      deltaX: -1.890312 m,
      approachRate: -0.535961 m/s,
      posRepo size: 4

2025-08-21T07:01:22.808Z,1755759682.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.52 m.
2025-08-21T07:01:22.811Z,1755759682.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.523384 m,
      nav range: 68.172783 m,
      bearing: 105.626737 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020170 deg/s,
      cmd heading: 99.961137 deg,
      new cmd heading: 99.996599 deg.

2025-08-21T07:01:22.824Z,1755759682.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.745270 target range: 68.523384 and range: 68.90 m.
2025-08-21T07:01:23.198Z,1755759683.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.52 m.
2025-08-21T07:01:23.201Z,1755759683.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.523384 m,
      nav range: 67.955757 m,
      bearing: 105.633157 deg,
      approach rate: -0.544746 m/s,
      LOS rate: 0.016164 deg/s,
      cmd heading: 99.996599 deg,
      new cmd heading: 100.015918 deg.

2025-08-21T07:01:23.202Z,1755759683.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.745607 target range: 68.523384 and range: 68.90 m.
2025-08-21T07:01:23.559Z,1755759683.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.52 m.
2025-08-21T07:01:23.566Z,1755759683.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.523384 m,
      nav range: 67.746490 m,
      bearing: 105.639310 deg,
      approach rate: -0.579863 m/s,
      LOS rate: 0.017103 deg/s,
      cmd heading: 100.015922 deg,
      new cmd heading: 100.034439 deg.

2025-08-21T07:01:23.567Z,1755759683.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.745930 target range: 68.523384 and range: 68.90 m.
2025-08-21T07:01:23.997Z,1755759683.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:23.999Z,1755759683.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.52 m.
2025-08-21T07:01:24.002Z,1755759684.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.523384 m,
      nav range: 67.513817 m,
      bearing: 105.644189 deg,
      approach rate: -0.528881 m/s,
      LOS rate: 0.011128 deg/s,
      cmd heading: 100.034438 deg,
      new cmd heading: 100.049126 deg.

2025-08-21T07:01:24.003Z,1755759684.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.746187 target range: 68.523384 and range: 68.90 m.
2025-08-21T07:01:24.225Z,1755759684.225 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:24.225Z,1755759684.225 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:24.225Z,1755759684.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:24.371Z,1755759684.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.52 m.
2025-08-21T07:01:24.374Z,1755759684.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.523384 m,
      nav range: 67.311401 m,
      bearing: 105.648300 deg,
      approach rate: -0.543603 m/s,
      LOS rate: 0.011074 deg/s,
      cmd heading: 100.049123 deg,
      new cmd heading: 100.061493 deg.

2025-08-21T07:01:24.375Z,1755759684.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.746403 target range: 68.523384 and range: 68.90 m.
2025-08-21T07:01:24.476Z,1755759684.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716443
2025-08-21T07:01:24.728Z,1755759684.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968274
2025-08-21T07:01:24.804Z,1755759684.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.52 m.
2025-08-21T07:01:24.807Z,1755759684.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.523384 m,
      nav range: 67.068604 m,
      bearing: 105.654534 deg,
      approach rate: -0.560301 m/s,
      LOS rate: 0.014439 deg/s,
      cmd heading: 100.061493 deg,
      new cmd heading: 100.080264 deg.

2025-08-21T07:01:24.808Z,1755759684.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.746730 target range: 68.523384 and range: 68.90 m.
2025-08-21T07:01:24.981Z,1755759684.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220629
2025-08-21T07:01:25.202Z,1755759685.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.52 m.
2025-08-21T07:01:25.205Z,1755759685.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.523384 m,
      nav range: 66.845779 m,
      bearing: 105.660067 deg,
      approach rate: -0.560352 m/s,
      LOS rate: 0.013960 deg/s,
      cmd heading: 100.080262 deg,
      new cmd heading: 100.096915 deg.

2025-08-21T07:01:25.206Z,1755759685.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747021 target range: 68.523384 and range: 68.90 m.
2025-08-21T07:01:25.232Z,1755759685.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.472493
2025-08-21T07:01:25.485Z,1755759685.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724747
2025-08-21T07:01:25.716Z,1755759685.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.52 m.
2025-08-21T07:01:25.719Z,1755759685.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.523384 m,
      nav range: 66.552582 m,
      bearing: 105.667995 deg,
      approach rate: -0.569946 m/s,
      LOS rate: 0.015479 deg/s,
      cmd heading: 100.096914 deg,
      new cmd heading: 100.120802 deg.

2025-08-21T07:01:25.720Z,1755759685.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747438 target range: 68.523384 and range: 68.90 m.
2025-08-21T07:01:25.736Z,1755759685.736 [DAT](INFO): DAT read: Rx Time:07:01:24.6151

2025-08-21T07:01:25.737Z,1755759685.737 [DAT](INFO): Rx dataTimestamp_ set to:1755759685.736539
2025-08-21T07:01:25.737Z,1755759685.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.977480
2025-08-21T07:01:25.992Z,1755759685.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231173
2025-08-21T07:01:26.055Z,1755759686.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:26.057Z,1755759686.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.52 m.
2025-08-21T07:01:26.064Z,1755759686.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.523384 m,
      nav range: 66.367775 m,
      bearing: 105.672915 deg,
      approach rate: -0.541809 m/s,
      LOS rate: 0.014466 deg/s,
      cmd heading: 100.120799 deg,
      new cmd heading: 100.135602 deg.

2025-08-21T07:01:26.065Z,1755759686.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747696 target range: 68.523384 and range: 68.90 m.
2025-08-21T07:01:26.240Z,1755759686.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.480341
2025-08-21T07:01:26.460Z,1755759686.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.52 m.
2025-08-21T07:01:26.463Z,1755759686.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.523384 m,
      nav range: 66.129028 m,
      bearing: 105.679204 deg,
      approach rate: -0.592940 m/s,
      LOS rate: 0.015673 deg/s,
      cmd heading: 100.135600 deg,
      new cmd heading: 100.154532 deg.

2025-08-21T07:01:26.480Z,1755759686.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.748026 target range: 68.523384 and range: 68.90 m.
2025-08-21T07:01:26.498Z,1755759686.498 [DAT](INFO): DAT read: 07:01:24.6151 LVL= 21488, 32177, 20194, 32755, AGC= 64, IDX= 415,-0.09, 0.470,-1.370, 0.442, 0.107, PHS= 0.466,-1.432, 0.292, RAW= 145.2,   7.5, CAL= 144.8,   8.1, ROT=   5.2,  -8.1

2025-08-21T07:01:26.500Z,1755759686.500 [DAT](INFO): got valid direction response:
 07:01:24.6151 LVL= 21488, 32177, 20194, 32755, AGC= 64, IDX= 415,-0.09, 0.470,-1.370, 0.442, 0.107, PHS= 0.466,-1.432, 0.292, RAW= 145.2,   7.5, CAL= 144.8,   8.1, ROT=   5.2,  -8.1

2025-08-21T07:01:26.501Z,1755759686.501 [DAT](INFO): DAT read: Bearing 270.9,   3.3 (Local)

2025-08-21T07:01:26.501Z,1755759686.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.9,   3.3 (Local)

2025-08-21T07:01:26.503Z,1755759686.503 [DAT](INFO): DAT read: Range 11 to 50 : 66.9 m  (Round-trip  89.3 ms) speed  0.5 m/s

2025-08-21T07:01:26.504Z,1755759686.504 [DAT](INFO): DAT read: user:2042>

2025-08-21T07:01:26.505Z,1755759686.505 [DAT](INFO): DAT read: Tx time:07:01:25.7216

2025-08-21T07:01:26.505Z,1755759686.505 [DAT](INFO): Ping request sent.
2025-08-21T07:01:26.505Z,1755759686.505 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:26.506Z,1755759686.506 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:26.507Z,1755759686.507 [DAT](INFO): direction in FSK: [0.985949,0.089728,0.140901]
2025-08-21T07:01:26.507Z,1755759686.507 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:26.507Z,1755759686.507 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:26.510Z,1755759686.510 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:26.510Z,1755759686.510 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:26.900Z,1755759686.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.900002 m,
      deltaT: 3.778249 s,
      deltaX: -2.000000 m,
      approachRate: -0.529346 m/s,
      rangeRepo size: 4

2025-08-21T07:01:26.902Z,1755759686.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.534203 m,
      bearing: 105.195548 deg,
      lat: 36.779330 deg,
      lon: -121.859424 deg,
      deltaT: 3.778249 s,
      deltaX: -1.989182 m,
      approachRate: -0.526482 m/s,
      posRepo size: 4

2025-08-21T07:01:26.903Z,1755759686.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-08-21T07:01:26.906Z,1755759686.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.534203 m,
      nav range: 65.891548 m,
      bearing: 105.679132 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.015673 deg/s,
      cmd heading: 100.154534 deg,
      new cmd heading: 100.175204 deg.

2025-08-21T07:01:26.907Z,1755759686.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.748387 target range: 66.534203 and range: 66.90 m.
2025-08-21T07:01:27.262Z,1755759687.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-08-21T07:01:27.265Z,1755759687.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.534203 m,
      nav range: 65.692734 m,
      bearing: 105.684758 deg,
      approach rate: -0.549200 m/s,
      LOS rate: 0.015589 deg/s,
      cmd heading: 100.175202 deg,
      new cmd heading: 100.192132 deg.

2025-08-21T07:01:27.266Z,1755759687.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.748683 target range: 66.534203 and range: 66.90 m.
2025-08-21T07:01:27.726Z,1755759687.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-08-21T07:01:27.732Z,1755759687.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.534203 m,
      nav range: 65.422729 m,
      bearing: 105.692443 deg,
      approach rate: -0.582041 m/s,
      LOS rate: 0.016635 deg/s,
      cmd heading: 100.192134 deg,
      new cmd heading: 100.215285 deg.

2025-08-21T07:01:27.733Z,1755759687.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749087 target range: 66.534203 and range: 66.90 m.
2025-08-21T07:01:28.103Z,1755759688.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:28.105Z,1755759688.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-08-21T07:01:28.108Z,1755759688.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.534203 m,
      nav range: 65.212952 m,
      bearing: 105.697332 deg,
      approach rate: -0.553031 m/s,
      LOS rate: 0.012930 deg/s,
      cmd heading: 100.215288 deg,
      new cmd heading: 100.230002 deg.

2025-08-21T07:01:28.109Z,1755759688.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749344 target range: 66.534203 and range: 66.90 m.
2025-08-21T07:01:28.256Z,1755759688.256 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:28.256Z,1755759688.256 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:28.257Z,1755759688.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:28.480Z,1755759688.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-08-21T07:01:28.483Z,1755759688.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.534203 m,
      nav range: 65.007339 m,
      bearing: 105.701998 deg,
      approach rate: -0.548147 m/s,
      LOS rate: 0.012480 deg/s,
      cmd heading: 100.230000 deg,
      new cmd heading: 100.244044 deg.

2025-08-21T07:01:28.485Z,1755759688.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749589 target range: 66.534203 and range: 66.90 m.
2025-08-21T07:01:28.508Z,1755759688.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002734
2025-08-21T07:01:28.756Z,1755759688.756 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:01:28.764Z,1755759688.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258832
2025-08-21T07:01:28.945Z,1755759688.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-08-21T07:01:28.948Z,1755759688.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.534203 m,
      nav range: 64.751793 m,
      bearing: 105.712261 deg,
      approach rate: -0.549978 m/s,
      LOS rate: 0.022175 deg/s,
      cmd heading: 100.244043 deg,
      new cmd heading: 100.274954 deg.

2025-08-21T07:01:28.949Z,1755759688.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.750128 target range: 66.534203 and range: 66.90 m.
2025-08-21T07:01:29.012Z,1755759689.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507021
2025-08-21T07:01:29.264Z,1755759689.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758717
2025-08-21T07:01:29.292Z,1755759689.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-08-21T07:01:29.295Z,1755759689.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.534203 m,
      nav range: 64.561058 m,
      bearing: 105.719992 deg,
      approach rate: -0.550323 m/s,
      LOS rate: 0.022372 deg/s,
      cmd heading: 100.274957 deg,
      new cmd heading: 100.298218 deg.

2025-08-21T07:01:29.296Z,1755759689.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.750534 target range: 66.534203 and range: 66.90 m.
2025-08-21T07:01:29.517Z,1755759689.517 [DAT](INFO): DAT read: Rx Time:07:01:28.2124

2025-08-21T07:01:29.518Z,1755759689.518 [DAT](INFO): Rx dataTimestamp_ set to:1755759689.517370
2025-08-21T07:01:29.519Z,1755759689.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013184
2025-08-21T07:01:29.760Z,1755759689.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:01:29.768Z,1755759689.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263008
2025-08-21T07:01:29.779Z,1755759689.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.53 m.
2025-08-21T07:01:29.781Z,1755759689.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.534203 m,
      nav range: 64.287537 m,
      bearing: 105.729994 deg,
      approach rate: -0.561223 m/s,
      LOS rate: 0.020608 deg/s,
      cmd heading: 100.298220 deg,
      new cmd heading: 100.328351 deg.

2025-08-21T07:01:29.782Z,1755759689.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.751060 target range: 66.534203 and range: 66.90 m.
2025-08-21T07:01:30.026Z,1755759690.026 [DAT](INFO): DAT read: 07:01:28.2124 LVL= 20784, 30689, 20338, 32755, AGC= 64, IDX= 419, 0.08,-1.367, 3.092,-1.384,-1.731, PHS= 0.466,-1.415, 0.304, RAW= 145.5,   7.2, CAL= 145.1,   7.8, ROT=   4.9,  -7.8

2025-08-21T07:01:30.027Z,1755759690.027 [DAT](INFO): got valid direction response:
 07:01:28.2124 LVL= 20784, 30689, 20338, 32755, AGC= 64, IDX= 419, 0.08,-1.367, 3.092,-1.384,-1.731, PHS= 0.466,-1.415, 0.304, RAW= 145.5,   7.2, CAL= 145.1,   7.8, ROT=   4.9,  -7.8

2025-08-21T07:01:30.028Z,1755759690.028 [DAT](INFO): DAT read: Bearing 271.3,   3.0 (Local)

2025-08-21T07:01:30.028Z,1755759690.028 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.3,   3.0 (Local)

2025-08-21T07:01:30.030Z,1755759690.030 [DAT](INFO): DAT read: Range 11 to 50 : 64.9 m  (Round-trip  86.6 ms) speed  0.6 m/s

2025-08-21T07:01:30.030Z,1755759690.030 [DAT](INFO): DAT read: user:2043>

2025-08-21T07:01:30.031Z,1755759690.031 [DAT](INFO): DAT read: Tx time:07:01:29.3216

2025-08-21T07:01:30.032Z,1755759690.032 [DAT](INFO): Ping request sent.
2025-08-21T07:01:30.032Z,1755759690.032 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:30.032Z,1755759690.032 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:30.033Z,1755759690.033 [DAT](INFO): direction in FSK: [0.987127,0.084627,0.135716]
2025-08-21T07:01:30.033Z,1755759690.033 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:30.034Z,1755759690.034 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:30.037Z,1755759690.037 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:30.037Z,1755759690.037 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:30.189Z,1755759690.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.900002 m,
      deltaT: 3.527782 s,
      deltaX: -2.000000 m,
      approachRate: -0.566928 m/s,
      rangeRepo size: 4

2025-08-21T07:01:30.191Z,1755759690.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.545341 m,
      bearing: 105.065948 deg,
      lat: 36.779330 deg,
      lon: -121.859424 deg,
      deltaT: 3.527782 s,
      deltaX: -1.988861 m,
      approachRate: -0.563771 m/s,
      posRepo size: 4

2025-08-21T07:01:30.196Z,1755759690.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.55 m.
2025-08-21T07:01:30.198Z,1755759690.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.545341 m,
      nav range: 64.074860 m,
      bearing: 105.679582 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020608 deg/s,
      cmd heading: 100.328348 deg,
      new cmd heading: 100.353662 deg.

2025-08-21T07:01:30.203Z,1755759690.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.751502 target range: 64.545341 and range: 64.90 m.
2025-08-21T07:01:30.524Z,1755759690.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:30.526Z,1755759690.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.55 m.
2025-08-21T07:01:30.537Z,1755759690.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.545341 m,
      nav range: 63.864449 m,
      bearing: 105.687053 deg,
      approach rate: -0.621826 m/s,
      LOS rate: 0.022154 deg/s,
      cmd heading: 100.353661 deg,
      new cmd heading: 100.376150 deg.

2025-08-21T07:01:30.538Z,1755759690.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.751894 target range: 64.545341 and range: 64.90 m.
2025-08-21T07:01:30.776Z,1755759690.776 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:30.776Z,1755759690.776 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:30.776Z,1755759690.776 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:30.934Z,1755759690.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.55 m.
2025-08-21T07:01:30.937Z,1755759690.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.545341 m,
      nav range: 63.627224 m,
      bearing: 105.695352 deg,
      approach rate: -0.581719 m/s,
      LOS rate: 0.020426 deg/s,
      cmd heading: 100.376153 deg,
      new cmd heading: 100.401141 deg.

2025-08-21T07:01:30.938Z,1755759690.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.752331 target range: 64.545341 and range: 64.90 m.
2025-08-21T07:01:31.029Z,1755759691.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996927
2025-08-21T07:01:31.280Z,1755759691.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248613
2025-08-21T07:01:31.338Z,1755759691.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.55 m.
2025-08-21T07:01:31.341Z,1755759691.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.545341 m,
      nav range: 63.414291 m,
      bearing: 105.702835 deg,
      approach rate: -0.527503 m/s,
      LOS rate: 0.018601 deg/s,
      cmd heading: 100.401144 deg,
      new cmd heading: 100.423670 deg.

2025-08-21T07:01:31.342Z,1755759691.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.752724 target range: 64.545341 and range: 64.90 m.
2025-08-21T07:01:31.533Z,1755759691.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501149
2025-08-21T07:01:31.784Z,1755759691.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752614
2025-08-21T07:01:31.813Z,1755759691.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.55 m.
2025-08-21T07:01:31.820Z,1755759691.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.545341 m,
      nav range: 63.157227 m,
      bearing: 105.713724 deg,
      approach rate: -0.541613 m/s,
      LOS rate: 0.023034 deg/s,
      cmd heading: 100.423670 deg,
      new cmd heading: 100.456469 deg.

2025-08-21T07:01:31.821Z,1755759691.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753296 target range: 64.545341 and range: 64.90 m.
2025-08-21T07:01:32.037Z,1755759692.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005587
2025-08-21T07:01:32.162Z,1755759692.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.55 m.
2025-08-21T07:01:32.167Z,1755759692.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.545341 m,
      nav range: 62.963051 m,
      bearing: 105.721814 deg,
      approach rate: -0.555446 m/s,
      LOS rate: 0.023215 deg/s,
      cmd heading: 100.456469 deg,
      new cmd heading: 100.480815 deg.

2025-08-21T07:01:32.192Z,1755759692.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753721 target range: 64.545341 and range: 64.90 m.
2025-08-21T07:01:32.289Z,1755759692.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256894
2025-08-21T07:01:32.540Z,1755759692.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508605
2025-08-21T07:01:32.543Z,1755759692.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:32.545Z,1755759692.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.55 m.
2025-08-21T07:01:32.549Z,1755759692.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.545341 m,
      nav range: 62.756260 m,
      bearing: 105.730467 deg,
      approach rate: -0.539672 m/s,
      LOS rate: 0.022657 deg/s,
      cmd heading: 100.480819 deg,
      new cmd heading: 100.506863 deg.

2025-08-21T07:01:32.550Z,1755759692.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754176 target range: 64.545341 and range: 64.90 m.
2025-08-21T07:01:32.793Z,1755759692.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761679
2025-08-21T07:01:32.981Z,1755759692.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.55 m.
2025-08-21T07:01:32.984Z,1755759692.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.545341 m,
      nav range: 62.523472 m,
      bearing: 105.741811 deg,
      approach rate: -0.534489 m/s,
      LOS rate: 0.026141 deg/s,
      cmd heading: 100.506862 deg,
      new cmd heading: 100.541018 deg.

2025-08-21T07:01:32.985Z,1755759692.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754772 target range: 64.545341 and range: 64.90 m.
2025-08-21T07:01:33.045Z,1755759693.045 [DAT](INFO): DAT read: Rx Time:07:01:31.8097

2025-08-21T07:01:33.045Z,1755759693.045 [DAT](INFO): Rx dataTimestamp_ set to:1755759693.044766
2025-08-21T07:01:33.046Z,1755759693.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013907
2025-08-21T07:01:33.296Z,1755759693.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264761
2025-08-21T07:01:33.359Z,1755759693.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.55 m.
2025-08-21T07:01:33.361Z,1755759693.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.545341 m,
      nav range: 62.322353 m,
      bearing: 105.751596 deg,
      approach rate: -0.532269 m/s,
      LOS rate: 0.025981 deg/s,
      cmd heading: 100.541020 deg,
      new cmd heading: 100.570470 deg.

2025-08-21T07:01:33.362Z,1755759693.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755286 target range: 64.545341 and range: 64.90 m.
2025-08-21T07:01:33.554Z,1755759693.554 [DAT](INFO): DAT read: 07:01:31.8097 LVL= 19872, 29537, 20834, 32755, AGC= 64, IDX= 408,-0.14,-1.144,-2.979,-1.143,-1.481, PHS= 0.439,-1.453, 0.294, RAW= 146.0,   7.9, CAL= 145.6,   8.6, ROT=   4.4,  -8.6

2025-08-21T07:01:33.555Z,1755759693.555 [DAT](INFO): got valid direction response:
 07:01:31.8097 LVL= 19872, 29537, 20834, 32755, AGC= 64, IDX= 408,-0.14,-1.144,-2.979,-1.143,-1.481, PHS= 0.439,-1.453, 0.294, RAW= 146.0,   7.9, CAL= 145.6,   8.6, ROT=   4.4,  -8.6

2025-08-21T07:01:33.556Z,1755759693.556 [DAT](INFO): DAT read: Bearing 272.7,   2.4 (Local)

2025-08-21T07:01:33.556Z,1755759693.556 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.7,   2.4 (Local)

2025-08-21T07:01:33.558Z,1755759693.558 [DAT](INFO): DAT read: Range 11 to 50 : 62.9 m  (Round-trip  83.9 ms) speed  0.7 m/s

2025-08-21T07:01:33.559Z,1755759693.559 [DAT](INFO): DAT read: user:2044>

2025-08-21T07:01:33.559Z,1755759693.559 [DAT](INFO): DAT read: Tx time:07:01:32.9232

2025-08-21T07:01:33.560Z,1755759693.560 [DAT](INFO): Ping request sent.
2025-08-21T07:01:33.560Z,1755759693.560 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:33.560Z,1755759693.560 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:33.561Z,1755759693.561 [DAT](INFO): direction in FSK: [0.985842,0.075856,0.149535]
2025-08-21T07:01:33.561Z,1755759693.561 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:33.562Z,1755759693.562 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:33.572Z,1755759693.572 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:33.572Z,1755759693.572 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:33.846Z,1755759693.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.900002 m,
      deltaT: 3.528146 s,
      deltaX: -2.000000 m,
      approachRate: -0.566870 m/s,
      rangeRepo size: 4

2025-08-21T07:01:33.852Z,1755759693.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 62.556007 m,
      bearing: 104.728426 deg,
      lat: 36.779334 deg,
      lon: -121.859420 deg,
      deltaT: 3.528146 s,
      deltaX: -1.989334 m,
      approachRate: -0.563847 m/s,
      posRepo size: 4

2025-08-21T07:01:33.859Z,1755759693.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.56 m.
2025-08-21T07:01:33.886Z,1755759693.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.556007 m,
      nav range: 62.310459 m,
      bearing: 105.325396 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025981 deg/s,
      cmd heading: 100.570472 deg,
      new cmd heading: 100.608188 deg.

2025-08-21T07:01:33.886Z,1755759693.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755944 target range: 62.556007 and range: 62.90 m.
2025-08-21T07:01:34.197Z,1755759694.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.56 m.
2025-08-21T07:01:34.204Z,1755759694.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.556007 m,
      nav range: 62.130238 m,
      bearing: 105.329674 deg,
      approach rate: -0.508473 m/s,
      LOS rate: 0.012104 deg/s,
      cmd heading: 100.608188 deg,
      new cmd heading: 100.621058 deg.

2025-08-21T07:01:34.205Z,1755759694.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756169 target range: 62.556007 and range: 62.90 m.
2025-08-21T07:01:34.565Z,1755759694.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:34.568Z,1755759694.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.56 m.
2025-08-21T07:01:34.570Z,1755759694.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.556007 m,
      nav range: 61.920734 m,
      bearing: 105.334705 deg,
      approach rate: -0.565632 m/s,
      LOS rate: 0.013629 deg/s,
      cmd heading: 100.621056 deg,
      new cmd heading: 100.636200 deg.

2025-08-21T07:01:34.571Z,1755759694.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756433 target range: 62.556007 and range: 62.90 m.
2025-08-21T07:01:34.810Z,1755759694.810 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:34.810Z,1755759694.810 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:34.811Z,1755759694.811 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:34.998Z,1755759694.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.56 m.
2025-08-21T07:01:35.001Z,1755759695.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.556007 m,
      nav range: 61.688004 m,
      bearing: 105.340077 deg,
      approach rate: -0.540493 m/s,
      LOS rate: 0.012524 deg/s,
      cmd heading: 100.636198 deg,
      new cmd heading: 100.652376 deg.

2025-08-21T07:01:35.002Z,1755759695.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756715 target range: 62.556007 and range: 62.90 m.
2025-08-21T07:01:35.062Z,1755759695.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501629
2025-08-21T07:01:35.312Z,1755759695.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752310
2025-08-21T07:01:35.375Z,1755759695.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.56 m.
2025-08-21T07:01:35.378Z,1755759695.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.556007 m,
      nav range: 61.484383 m,
      bearing: 105.344720 deg,
      approach rate: -0.540149 m/s,
      LOS rate: 0.012355 deg/s,
      cmd heading: 100.652379 deg,
      new cmd heading: 100.666352 deg.

2025-08-21T07:01:35.379Z,1755759695.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756959 target range: 62.556007 and range: 62.90 m.
2025-08-21T07:01:35.564Z,1755759695.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004586
2025-08-21T07:01:35.819Z,1755759695.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258800
2025-08-21T07:01:35.879Z,1755759695.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.56 m.
2025-08-21T07:01:35.881Z,1755759695.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.556007 m,
      nav range: 61.221951 m,
      bearing: 105.345840 deg,
      approach rate: -0.521085 m/s,
      LOS rate: 0.002234 deg/s,
      cmd heading: 100.666354 deg,
      new cmd heading: 100.669730 deg.

2025-08-21T07:01:35.882Z,1755759695.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757018 target range: 62.556007 and range: 62.90 m.
2025-08-21T07:01:36.071Z,1755759696.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511542
2025-08-21T07:01:36.192Z,1755759696.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.56 m.
2025-08-21T07:01:36.195Z,1755759696.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.556007 m,
      nav range: 61.044239 m,
      bearing: 105.346610 deg,
      approach rate: -0.566809 m/s,
      LOS rate: 0.002462 deg/s,
      cmd heading: 100.669728 deg,
      new cmd heading: 100.672044 deg.

2025-08-21T07:01:36.196Z,1755759696.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757059 target range: 62.556007 and range: 62.90 m.
2025-08-21T07:01:36.320Z,1755759696.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760368
2025-08-21T07:01:36.572Z,1755759696.572 [DAT](INFO): DAT read: Rx Time:07:01:35.4086

2025-08-21T07:01:36.573Z,1755759696.573 [DAT](INFO): Rx dataTimestamp_ set to:1755759696.572604
2025-08-21T07:01:36.573Z,1755759696.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013573
2025-08-21T07:01:36.587Z,1755759696.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:36.589Z,1755759696.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.56 m.
2025-08-21T07:01:36.592Z,1755759696.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.556007 m,
      nav range: 60.830399 m,
      bearing: 105.347426 deg,
      approach rate: -0.538332 m/s,
      LOS rate: 0.002061 deg/s,
      cmd heading: 100.672043 deg,
      new cmd heading: 100.674500 deg.

2025-08-21T07:01:36.593Z,1755759696.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757102 target range: 62.556007 and range: 62.90 m.
2025-08-21T07:01:36.829Z,1755759696.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268735
2025-08-21T07:01:37.028Z,1755759697.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.56 m.
2025-08-21T07:01:37.030Z,1755759697.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 62.556007 m,
      nav range: 60.593975 m,
      bearing: 105.352990 deg,
      approach rate: -0.539859 m/s,
      LOS rate: 0.012755 deg/s,
      cmd heading: 100.674502 deg,
      new cmd heading: 100.691260 deg.

2025-08-21T07:01:37.031Z,1755759697.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757394 target range: 62.556007 and range: 62.90 m.
2025-08-21T07:01:37.080Z,1755759697.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519838
2025-08-21T07:01:37.334Z,1755759697.334 [DAT](INFO): DAT read: 07:01:35.4086 LVL= 21440, 32753, 20466, 31267, AGC= 61, IDX= 414, 0.07,-1.482, 3.034,-1.474,-1.842, PHS= 0.461,-1.363, 0.324, RAW= 146.1,   6.6, CAL= 145.6,   7.2, ROT=   4.4,  -7.2

2025-08-21T07:01:37.335Z,1755759697.335 [DAT](INFO): got valid direction response:
 07:01:35.4086 LVL= 21440, 32753, 20466, 31267, AGC= 61, IDX= 414, 0.07,-1.482, 3.034,-1.474,-1.842, PHS= 0.461,-1.363, 0.324, RAW= 146.1,   6.6, CAL= 145.6,   7.2, ROT=   4.4,  -7.2

2025-08-21T07:01:37.336Z,1755759697.336 [DAT](INFO): DAT read: Bearing 271.5,   2.2 (Local)

2025-08-21T07:01:37.336Z,1755759697.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.5,   2.2 (Local)

2025-08-21T07:01:37.338Z,1755759697.338 [DAT](INFO): DAT read: Range 11 to 50 : 61.0 m  (Round-trip  81.4 ms) speed  0.6 m/s

2025-08-21T07:01:37.338Z,1755759697.338 [DAT](INFO): DAT read: user:2045>

2025-08-21T07:01:37.348Z,1755759697.348 [DAT](INFO): DAT read: Tx time:07:01:36.5215

2025-08-21T07:01:37.348Z,1755759697.348 [DAT](INFO): Ping request sent.
2025-08-21T07:01:37.348Z,1755759697.348 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:37.348Z,1755759697.348 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:37.349Z,1755759697.349 [DAT](INFO): direction in FSK: [0.989191,0.076114,0.125333]
2025-08-21T07:01:37.350Z,1755759697.350 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:37.350Z,1755759697.350 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:37.353Z,1755759697.353 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:37.353Z,1755759697.353 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:37.469Z,1755759697.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 61.000000 m,
      deltaT: 3.779909 s,
      deltaX: -1.900002 m,
      approachRate: -0.502658 m/s,
      rangeRepo size: 4

2025-08-21T07:01:37.471Z,1755759697.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.666149 m,
      bearing: 104.974022 deg,
      lat: 36.779336 deg,
      lon: -121.859419 deg,
      deltaT: 3.779909 s,
      deltaX: -1.889858 m,
      approachRate: -0.499975 m/s,
      posRepo size: 4

2025-08-21T07:01:37.476Z,1755759697.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m.
2025-08-21T07:01:37.478Z,1755759697.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.666149 m,
      nav range: 60.370560 m,
      bearing: 105.136043 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012755 deg/s,
      cmd heading: 100.691257 deg,
      new cmd heading: 100.707936 deg.

2025-08-21T07:01:37.495Z,1755759697.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757685 target range: 60.666149 and range: 61.00 m.
2025-08-21T07:01:37.898Z,1755759697.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m.
2025-08-21T07:01:37.917Z,1755759697.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.666149 m,
      nav range: 60.141827 m,
      bearing: 105.135302 deg,
      approach rate: -0.525526 m/s,
      LOS rate: -0.001709 deg/s,
      cmd heading: 100.707936 deg,
      new cmd heading: 100.705704 deg.

2025-08-21T07:01:37.918Z,1755759697.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757646 target range: 60.666149 and range: 61.00 m.
2025-08-21T07:01:38.261Z,1755759698.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m.
2025-08-21T07:01:38.268Z,1755759698.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.666149 m,
      nav range: 59.958206 m,
      bearing: 105.134613 deg,
      approach rate: -0.506059 m/s,
      LOS rate: -0.001904 deg/s,
      cmd heading: 100.705702 deg,
      new cmd heading: 100.703630 deg.

2025-08-21T07:01:38.269Z,1755759698.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757610 target range: 60.666149 and range: 61.00 m.
2025-08-21T07:01:38.656Z,1755759698.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:38.658Z,1755759698.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m.
2025-08-21T07:01:38.661Z,1755759698.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.666149 m,
      nav range: 59.745461 m,
      bearing: 105.133697 deg,
      approach rate: -0.536287 m/s,
      LOS rate: -0.002317 deg/s,
      cmd heading: 100.703633 deg,
      new cmd heading: 100.700875 deg.

2025-08-21T07:01:38.662Z,1755759698.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757562 target range: 60.666149 and range: 61.00 m.
2025-08-21T07:01:38.847Z,1755759698.847 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:38.847Z,1755759698.847 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:38.848Z,1755759698.848 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:39.098Z,1755759699.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749782
2025-08-21T07:01:39.165Z,1755759699.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m.
2025-08-21T07:01:39.170Z,1755759699.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.666149 m,
      nav range: 59.500969 m,
      bearing: 105.132583 deg,
      approach rate: -0.482294 m/s,
      LOS rate: -0.002208 deg/s,
      cmd heading: 100.700874 deg,
      new cmd heading: 100.697515 deg.

2025-08-21T07:01:39.171Z,1755759699.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757503 target range: 60.666149 and range: 61.00 m.
2025-08-21T07:01:39.348Z,1755759699.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000392
2025-08-21T07:01:39.473Z,1755759699.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m.
2025-08-21T07:01:39.476Z,1755759699.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.666149 m,
      nav range: 59.324951 m,
      bearing: 105.131562 deg,
      approach rate: -0.571780 m/s,
      LOS rate: -0.003327 deg/s,
      cmd heading: 100.697513 deg,
      new cmd heading: 100.694441 deg.

2025-08-21T07:01:39.476Z,1755759699.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757450 target range: 60.666149 and range: 61.00 m.
2025-08-21T07:01:39.603Z,1755759699.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254154
2025-08-21T07:01:39.855Z,1755759699.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506311
2025-08-21T07:01:39.958Z,1755759699.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m.
2025-08-21T07:01:39.961Z,1755759699.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.666149 m,
      nav range: 59.067940 m,
      bearing: 105.129171 deg,
      approach rate: -0.529357 m/s,
      LOS rate: -0.004945 deg/s,
      cmd heading: 100.694439 deg,
      new cmd heading: 100.687237 deg.

2025-08-21T07:01:39.962Z,1755759699.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757324 target range: 60.666149 and range: 61.00 m.
2025-08-21T07:01:40.105Z,1755759700.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757117
2025-08-21T07:01:40.291Z,1755759700.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m.
2025-08-21T07:01:40.294Z,1755759700.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.666149 m,
      nav range: 58.892162 m,
      bearing: 105.127455 deg,
      approach rate: -0.528622 m/s,
      LOS rate: -0.005176 deg/s,
      cmd heading: 100.687240 deg,
      new cmd heading: 100.682077 deg.

2025-08-21T07:01:40.294Z,1755759700.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757234 target range: 60.666149 and range: 61.00 m.
2025-08-21T07:01:40.358Z,1755759700.358 [DAT](INFO): DAT read: Rx Time:07:01:39.0045

2025-08-21T07:01:40.359Z,1755759700.359 [DAT](INFO): Rx dataTimestamp_ set to:1755759700.358609
2025-08-21T07:01:40.360Z,1755759700.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011529
2025-08-21T07:01:40.610Z,1755759700.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261174
2025-08-21T07:01:40.732Z,1755759700.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:40.734Z,1755759700.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.67 m.
2025-08-21T07:01:40.745Z,1755759700.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.666149 m,
      nav range: 58.688412 m,
      bearing: 105.125352 deg,
      approach rate: -0.459667 m/s,
      LOS rate: -0.004761 deg/s,
      cmd heading: 100.682077 deg,
      new cmd heading: 100.675746 deg.

2025-08-21T07:01:40.748Z,1755759700.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757123 target range: 60.666149 and range: 61.00 m.
2025-08-21T07:01:40.916Z,1755759700.916 [DAT](INFO): DAT read: 07:01:39.0045 LVL= 24192, 32753, 23618, 32755, AGC= 64, IDX= 420,-0.04, 1.456,-0.392, 1.471, 1.107, PHS= 0.451,-1.455, 0.320, RAW= 146.5,   7.5, CAL= 146.0,   8.1, ROT=   4.0,  -8.1

2025-08-21T07:01:40.917Z,1755759700.917 [DAT](INFO): got valid direction response:
 07:01:39.0045 LVL= 24192, 32753, 23618, 32755, AGC= 64, IDX= 420,-0.04, 1.456,-0.392, 1.471, 1.107, PHS= 0.451,-1.455, 0.320, RAW= 146.5,   7.5, CAL= 146.0,   8.1, ROT=   4.0,  -8.1

2025-08-21T07:01:40.918Z,1755759700.918 [DAT](INFO): DAT read: Bearing 272.8,   1.7 (Local)

2025-08-21T07:01:40.918Z,1755759700.918 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.8,   1.7 (Local)

2025-08-21T07:01:40.929Z,1755759700.929 [DAT](INFO): DAT read: Range 11 to 50 : 59.1 m  (Round-trip  78.9 ms) speed  0.4 m/s

2025-08-21T07:01:40.944Z,1755759700.944 [DAT](INFO): DAT read: user:2046>

2025-08-21T07:01:40.945Z,1755759700.945 [DAT](INFO): DAT read: Tx time:07:01:40.1215

2025-08-21T07:01:40.946Z,1755759700.946 [DAT](INFO): Ping request sent.
2025-08-21T07:01:40.946Z,1755759700.946 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:40.946Z,1755759700.946 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:40.955Z,1755759700.955 [DAT](INFO): direction in FSK: [0.987612,0.069061,0.140901]
2025-08-21T07:01:40.959Z,1755759700.959 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:40.960Z,1755759700.960 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:40.969Z,1755759700.969 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:40.969Z,1755759700.969 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:41.182Z,1755759701.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.099998 m,
      deltaT: 3.533517 s,
      deltaX: -1.900002 m,
      approachRate: -0.537708 m/s,
      rangeRepo size: 4

2025-08-21T07:01:41.189Z,1755759701.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.776131 m,
      bearing: 104.764726 deg,
      lat: 36.779337 deg,
      lon: -121.859419 deg,
      deltaT: 3.533517 s,
      deltaX: -1.890018 m,
      approachRate: -0.534883 m/s,
      posRepo size: 4

2025-08-21T07:01:41.189Z,1755759701.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.78 m.
2025-08-21T07:01:41.190Z,1755759701.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m.
2025-08-21T07:01:41.197Z,1755759701.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.776131 m,
      nav range: 58.415115 m,
      bearing: 104.985964 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.004761 deg/s,
      cmd heading: 100.675745 deg,
      new cmd heading: 100.669358 deg.

2025-08-21T07:01:41.198Z,1755759701.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757012 target range: 58.776131 and range: 59.10 m.
2025-08-21T07:01:41.230Z,1755759701.230 [DockingStepper](INFO): Changing to mode: 2
2025-08-21T07:01:41.597Z,1755759701.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.78 m.
2025-08-21T07:01:41.598Z,1755759701.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m.
2025-08-21T07:01:41.605Z,1755759701.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.776131 m,
      nav range: 58.184166 m,
      bearing: 104.983295 deg,
      approach rate: -0.555417 m/s,
      LOS rate: -0.006443 deg/s,
      cmd heading: 100.669359 deg,
      new cmd heading: 100.661321 deg.

2025-08-21T07:01:41.609Z,1755759701.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756871 target range: 58.776131 and range: 59.10 m.
2025-08-21T07:01:42.020Z,1755759702.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.78 m.
2025-08-21T07:01:42.020Z,1755759702.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m.
2025-08-21T07:01:42.023Z,1755759702.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.776131 m,
      nav range: 57.962631 m,
      bearing: 104.979430 deg,
      approach rate: -0.524643 m/s,
      LOS rate: -0.009188 deg/s,
      cmd heading: 100.661320 deg,
      new cmd heading: 100.649681 deg.

2025-08-21T07:01:42.024Z,1755759702.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756668 target range: 58.776131 and range: 59.10 m.
2025-08-21T07:01:42.430Z,1755759702.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.78 m.
2025-08-21T07:01:42.431Z,1755759702.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m.
2025-08-21T07:01:42.433Z,1755759702.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.776131 m,
      nav range: 57.761414 m,
      bearing: 104.975847 deg,
      approach rate: -0.489789 m/s,
      LOS rate: -0.008752 deg/s,
      cmd heading: 100.649681 deg,
      new cmd heading: 100.638895 deg.

2025-08-21T07:01:42.434Z,1755759702.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756480 target range: 58.776131 and range: 59.10 m.
2025-08-21T07:01:42.804Z,1755759702.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:42.813Z,1755759702.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.78 m.
2025-08-21T07:01:42.813Z,1755759702.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m.
2025-08-21T07:01:42.824Z,1755759702.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.776131 m,
      nav range: 57.566456 m,
      bearing: 104.972277 deg,
      approach rate: -0.509430 m/s,
      LOS rate: -0.009360 deg/s,
      cmd heading: 100.638896 deg,
      new cmd heading: 100.628150 deg.

2025-08-21T07:01:42.825Z,1755759702.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756293 target range: 58.776131 and range: 59.10 m.
2025-08-21T07:01:42.880Z,1755759702.880 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:42.880Z,1755759702.880 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:42.881Z,1755759702.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:43.129Z,1755759703.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.182984
2025-08-21T07:01:43.239Z,1755759703.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.78 m.
2025-08-21T07:01:43.239Z,1755759703.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m.
2025-08-21T07:01:43.242Z,1755759703.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.776131 m,
      nav range: 57.323162 m,
      bearing: 104.971212 deg,
      approach rate: -0.571422 m/s,
      LOS rate: -0.002513 deg/s,
      cmd heading: 100.628153 deg,
      new cmd heading: 100.624942 deg.

2025-08-21T07:01:43.243Z,1755759703.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756237 target range: 58.776131 and range: 59.10 m.
2025-08-21T07:01:43.380Z,1755759703.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434380
2025-08-21T07:01:43.632Z,1755759703.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.686493
2025-08-21T07:01:43.633Z,1755759703.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.78 m.
2025-08-21T07:01:43.633Z,1755759703.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m.
2025-08-21T07:01:43.636Z,1755759703.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.776131 m,
      nav range: 57.112389 m,
      bearing: 104.970131 deg,
      approach rate: -0.536964 m/s,
      LOS rate: -0.002763 deg/s,
      cmd heading: 100.624942 deg,
      new cmd heading: 100.621689 deg.

2025-08-21T07:01:43.637Z,1755759703.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756180 target range: 58.776131 and range: 59.10 m.
2025-08-21T07:01:43.888Z,1755759703.888 [DAT](INFO): DAT read: Rx Time:07:01:42.6020

2025-08-21T07:01:43.890Z,1755759703.890 [DAT](INFO): Rx dataTimestamp_ set to:1755759703.889058
2025-08-21T07:01:43.892Z,1755759703.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.946039
2025-08-21T07:01:44.041Z,1755759704.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.78 m.
2025-08-21T07:01:44.042Z,1755759704.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.10 m.
2025-08-21T07:01:44.045Z,1755759704.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.776131 m,
      nav range: 56.896885 m,
      bearing: 104.972446 deg,
      approach rate: -0.525382 m/s,
      LOS rate: 0.005665 deg/s,
      cmd heading: 100.621691 deg,
      new cmd heading: 100.628662 deg.

2025-08-21T07:01:44.046Z,1755759704.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756302 target range: 58.776131 and range: 59.10 m.
2025-08-21T07:01:44.137Z,1755759704.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.191137
2025-08-21T07:01:44.394Z,1755759704.394 [DAT](INFO): DAT read: 07:01:42.6020 LVL= 19584, 29537, 21666, 32755, AGC= 57, IDX= 410,-0.10, 2.362, 0.615, 2.346, 2.026, PHS= 0.438,-1.365, 0.276, RAW= 145.4,   7.6, CAL= 144.9,   8.3, ROT=   5.1,  -8.3

2025-08-21T07:01:44.395Z,1755759704.395 [DAT](INFO): got valid direction response:
 07:01:42.6020 LVL= 19584, 29537, 21666, 32755, AGC= 57, IDX= 410,-0.10, 2.362, 0.615, 2.346, 2.026, PHS= 0.438,-1.365, 0.276, RAW= 145.4,   7.6, CAL= 144.9,   8.3, ROT=   5.1,  -8.3

2025-08-21T07:01:44.396Z,1755759704.396 [DAT](INFO): DAT read: Bearing 273.5,   2.8 (Local)

2025-08-21T07:01:44.396Z,1755759704.396 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.5,   2.8 (Local)

2025-08-21T07:01:44.398Z,1755759704.398 [DAT](INFO): DAT read: Range 11 to 50 : 57.2 m  (Round-trip  76.3 ms) speed  0.5 m/s

2025-08-21T07:01:44.398Z,1755759704.398 [DAT](INFO): DAT read: user:2047>

2025-08-21T07:01:44.399Z,1755759704.399 [DAT](INFO): DAT read: Tx time:07:01:43.7215

2025-08-21T07:01:44.399Z,1755759704.399 [DAT](INFO): Ping request sent.
2025-08-21T07:01:44.400Z,1755759704.400 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:44.400Z,1755759704.400 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:44.401Z,1755759704.401 [DAT](INFO): direction in FSK: [0.985608,0.087963,0.144356]
2025-08-21T07:01:44.401Z,1755759704.401 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:44.401Z,1755759704.401 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:44.404Z,1755759704.404 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:44.405Z,1755759704.405 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:44.525Z,1755759704.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.200001 m,
      deltaT: 3.526382 s,
      deltaX: -1.899998 m,
      approachRate: -0.538795 m/s,
      rangeRepo size: 4

2025-08-21T07:01:44.531Z,1755759704.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 56.886375 m,
      bearing: 105.955340 deg,
      lat: 36.779337 deg,
      lon: -121.859419 deg,
      deltaT: 3.526382 s,
      deltaX: -1.889755 m,
      approachRate: -0.535891 m/s,
      posRepo size: 4

2025-08-21T07:01:44.532Z,1755759704.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.89 m.
2025-08-21T07:01:44.533Z,1755759704.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-21T07:01:44.543Z,1755759704.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.886375 m,
      nav range: 56.638744 m,
      bearing: 104.980067 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005665 deg/s,
      cmd heading: 100.628665 deg,
      new cmd heading: 100.636876 deg.

2025-08-21T07:01:44.544Z,1755759704.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756445 target range: 56.886375 and range: 57.20 m.
2025-08-21T07:01:44.857Z,1755759704.857 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:44.859Z,1755759704.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.89 m.
2025-08-21T07:01:44.859Z,1755759704.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-21T07:01:44.862Z,1755759704.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.886375 m,
      nav range: 56.448162 m,
      bearing: 104.982140 deg,
      approach rate: -0.570177 m/s,
      LOS rate: 0.006222 deg/s,
      cmd heading: 100.636875 deg,
      new cmd heading: 100.643114 deg.

2025-08-21T07:01:44.863Z,1755759704.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756554 target range: 56.886375 and range: 57.20 m.
2025-08-21T07:01:44.897Z,1755759704.897 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:44.897Z,1755759704.897 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:44.897Z,1755759704.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:45.149Z,1755759705.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749316
2025-08-21T07:01:45.271Z,1755759705.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.89 m.
2025-08-21T07:01:45.292Z,1755759705.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-21T07:01:45.294Z,1755759705.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.886375 m,
      nav range: 56.218430 m,
      bearing: 104.985639 deg,
      approach rate: -0.557560 m/s,
      LOS rate: 0.008528 deg/s,
      cmd heading: 100.643111 deg,
      new cmd heading: 100.653652 deg.

2025-08-21T07:01:45.299Z,1755759705.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756738 target range: 56.886375 and range: 57.20 m.
2025-08-21T07:01:45.401Z,1755759705.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001109
2025-08-21T07:01:45.652Z,1755759705.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252577
2025-08-21T07:01:45.676Z,1755759705.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.89 m.
2025-08-21T07:01:45.677Z,1755759705.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-21T07:01:45.680Z,1755759705.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.886375 m,
      nav range: 55.992466 m,
      bearing: 104.989109 deg,
      approach rate: -0.557254 m/s,
      LOS rate: 0.008592 deg/s,
      cmd heading: 100.653650 deg,
      new cmd heading: 100.664102 deg.

2025-08-21T07:01:45.681Z,1755759705.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756920 target range: 56.886375 and range: 57.20 m.
2025-08-21T07:01:45.907Z,1755759705.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506435
2025-08-21T07:01:46.103Z,1755759706.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.89 m.
2025-08-21T07:01:46.104Z,1755759706.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-21T07:01:46.108Z,1755759706.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.886375 m,
      nav range: 55.763412 m,
      bearing: 104.991191 deg,
      approach rate: -0.537824 m/s,
      LOS rate: 0.004907 deg/s,
      cmd heading: 100.664100 deg,
      new cmd heading: 100.670369 deg.

2025-08-21T07:01:46.109Z,1755759706.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757029 target range: 56.886375 and range: 57.20 m.
2025-08-21T07:01:46.157Z,1755759706.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757251
2025-08-21T07:01:46.409Z,1755759706.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008735
2025-08-21T07:01:46.477Z,1755759706.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.89 m.
2025-08-21T07:01:46.477Z,1755759706.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-21T07:01:46.480Z,1755759706.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.886375 m,
      nav range: 55.554501 m,
      bearing: 104.992809 deg,
      approach rate: -0.557598 m/s,
      LOS rate: 0.004336 deg/s,
      cmd heading: 100.670370 deg,
      new cmd heading: 100.675244 deg.

2025-08-21T07:01:46.481Z,1755759706.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757115 target range: 56.886375 and range: 57.20 m.
2025-08-21T07:01:46.664Z,1755759706.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263396
2025-08-21T07:01:46.867Z,1755759706.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:46.869Z,1755759706.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.89 m.
2025-08-21T07:01:46.869Z,1755759706.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-21T07:01:46.872Z,1755759706.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.886375 m,
      nav range: 55.340160 m,
      bearing: 104.994223 deg,
      approach rate: -0.546505 m/s,
      LOS rate: 0.003620 deg/s,
      cmd heading: 100.675247 deg,
      new cmd heading: 100.679506 deg.

2025-08-21T07:01:46.873Z,1755759706.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757189 target range: 56.886375 and range: 57.20 m.
2025-08-21T07:01:46.878Z,1755759706.878 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-21T06:51:46.7Z
2025-08-21T07:01:46.878Z,1755759706.878 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-21T07:01:46.878Z,1755759706.878 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:01:46.878Z,1755759706.878 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-21T07:01:46.878Z,1755759706.878 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:01:46.878Z,1755759706.878 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-21T07:01:46.912Z,1755759706.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512831
2025-08-21T07:01:47.165Z,1755759707.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765751
2025-08-21T07:01:47.300Z,1755759707.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.89 m.
2025-08-21T07:01:47.300Z,1755759707.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-08-21T07:01:47.300Z,1755759707.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.20 m.
2025-08-21T07:01:47.301Z,1755759707.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-21T07:01:47.307Z,1755759707.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.886375 m,
      nav range: 55.095448 m,
      bearing: 104.994713 deg,
      approach rate: -0.568593 m/s,
      LOS rate: 0.001142 deg/s,
      cmd heading: 100.679509 deg,
      new cmd heading: 100.680983 deg.

2025-08-21T07:01:47.308Z,1755759707.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757215 target range: 56.886375 and range: 57.20 m.
2025-08-21T07:01:47.312Z,1755759707.312 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T07:01:47.312Z,1755759707.312 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-21T07:01:47.313Z,1755759707.313 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-21T07:01:47.313Z,1755759707.313 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:01:47.313Z,1755759707.313 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-21T07:01:47.416Z,1755759707.416 [DAT](INFO): DAT read: Rx Time:07:01:46.1995

2025-08-21T07:01:47.417Z,1755759707.417 [DAT](INFO): Rx dataTimestamp_ set to:1755759707.416575
2025-08-21T07:01:47.417Z,1755759707.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017852
2025-08-21T07:01:47.669Z,1755759707.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268998
2025-08-21T07:01:47.773Z,1755759707.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.89 m.
2025-08-21T07:01:47.776Z,1755759707.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 56.886375 m,
      nav range: 54.826332 m,
      bearing: 104.994742 deg,
      approach rate: -0.568169 m/s,
      LOS rate: 0.000063 deg/s,
      cmd heading: 100.680984 deg,
      new cmd heading: 100.681073 deg.

2025-08-21T07:01:47.777Z,1755759707.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757216 target range: 56.886375 and range: 57.20 m.
2025-08-21T07:01:47.930Z,1755759707.930 [DAT](INFO): DAT read: 07:01:46.1995 LVL= 25136, 29281, 25074, 32755, AGC= 65, IDX= 416,-0.27,-2.048, 2.505,-2.005,-2.312, PHS= 0.366,-1.422, 0.263, RAW= 147.1,   9.2, CAL= 146.6,  10.0, ROT=   3.4, -10.0

2025-08-21T07:01:47.938Z,1755759707.938 [DAT](INFO): got valid direction response:
 07:01:46.1995 LVL= 25136, 29281, 25074, 32755, AGC= 65, IDX= 416,-0.27,-2.048, 2.505,-2.005,-2.312, PHS= 0.366,-1.422, 0.263, RAW= 147.1,   9.2, CAL= 146.6,  10.0, ROT=   3.4, -10.0

2025-08-21T07:01:47.942Z,1755759707.942 [DAT](INFO): DAT read: Bearing 275.8,   1.1 (Local)

2025-08-21T07:01:47.943Z,1755759707.943 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.8,   1.1 (Local)

2025-08-21T07:01:47.956Z,1755759707.956 [DAT](INFO): DAT read: Range 11 to 50 : 55.3 m  (Round-trip  73.8 ms) speed  0.4 m/s

2025-08-21T07:01:47.965Z,1755759707.965 [DAT](INFO): DAT read: user:2048>

2025-08-21T07:01:47.971Z,1755759707.971 [DAT](INFO): DAT read: Tx time:07:01:47.3215

2025-08-21T07:01:47.973Z,1755759707.973 [DAT](INFO): Ping request sent.
2025-08-21T07:01:47.973Z,1755759707.973 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:47.974Z,1755759707.974 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:47.982Z,1755759707.982 [DAT](INFO): direction in FSK: [0.983074,0.058405,0.173648]
2025-08-21T07:01:47.983Z,1755759707.983 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:47.988Z,1755759707.988 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:48.009Z,1755759708.009 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:48.010Z,1755759708.010 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:48.234Z,1755759708.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.299999 m,
      deltaT: 3.534533 s,
      deltaX: -1.900002 m,
      approachRate: -0.537554 m/s,
      rangeRepo size: 4

2025-08-21T07:01:48.236Z,1755759708.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 54.997154 m,
      bearing: 104.621214 deg,
      lat: 36.779339 deg,
      lon: -121.859418 deg,
      deltaT: 3.534533 s,
      deltaX: -1.889221 m,
      approachRate: -0.534504 m/s,
      posRepo size: 4

2025-08-21T07:01:48.237Z,1755759708.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.00 m.
2025-08-21T07:01:48.240Z,1755759708.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.997154 m,
      nav range: 54.580799 m,
      bearing: 104.779767 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000063 deg/s,
      cmd heading: 100.681073 deg,
      new cmd heading: 100.681160 deg.

2025-08-21T07:01:48.241Z,1755759708.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757218 target range: 54.997154 and range: 55.30 m.
2025-08-21T07:01:48.606Z,1755759708.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.00 m.
2025-08-21T07:01:48.613Z,1755759708.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.997154 m,
      nav range: 54.385643 m,
      bearing: 104.776197 deg,
      approach rate: -0.523694 m/s,
      LOS rate: -0.009615 deg/s,
      cmd heading: 100.681162 deg,
      new cmd heading: 100.670413 deg.

2025-08-21T07:01:48.614Z,1755759708.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757030 target range: 54.997154 and range: 55.30 m.
2025-08-21T07:01:49.099Z,1755759709.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:49.101Z,1755759709.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.00 m.
2025-08-21T07:01:49.112Z,1755759709.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.997154 m,
      nav range: 54.106876 m,
      bearing: 104.770569 deg,
      approach rate: -0.562969 m/s,
      LOS rate: -0.011425 deg/s,
      cmd heading: 100.670411 deg,
      new cmd heading: 100.653439 deg.

2025-08-21T07:01:49.113Z,1755759709.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756734 target range: 54.997154 and range: 55.30 m.
2025-08-21T07:01:49.181Z,1755759709.181 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:49.181Z,1755759709.181 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:49.181Z,1755759709.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:49.432Z,1755759709.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459784
2025-08-21T07:01:49.509Z,1755759709.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.00 m.
2025-08-21T07:01:49.516Z,1755759709.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.997154 m,
      nav range: 53.889496 m,
      bearing: 104.767583 deg,
      approach rate: -0.532986 m/s,
      LOS rate: -0.007350 deg/s,
      cmd heading: 100.653438 deg,
      new cmd heading: 100.644444 deg.

2025-08-21T07:01:49.517Z,1755759709.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756577 target range: 54.997154 and range: 55.30 m.
2025-08-21T07:01:49.684Z,1755759709.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711655
2025-08-21T07:01:49.868Z,1755759709.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.00 m.
2025-08-21T07:01:49.871Z,1755759709.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.997154 m,
      nav range: 53.688854 m,
      bearing: 104.764469 deg,
      approach rate: -0.558705 m/s,
      LOS rate: -0.008703 deg/s,
      cmd heading: 100.644443 deg,
      new cmd heading: 100.635066 deg.

2025-08-21T07:01:49.872Z,1755759709.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756413 target range: 54.997154 and range: 55.30 m.
2025-08-21T07:01:49.937Z,1755759709.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.964497
2025-08-21T07:01:50.188Z,1755759710.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215656
2025-08-21T07:01:50.288Z,1755759710.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.00 m.
2025-08-21T07:01:50.291Z,1755759710.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.997154 m,
      nav range: 53.473141 m,
      bearing: 104.756748 deg,
      approach rate: -0.514047 m/s,
      LOS rate: -0.018473 deg/s,
      cmd heading: 100.635065 deg,
      new cmd heading: 100.611809 deg.

2025-08-21T07:01:50.292Z,1755759710.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756007 target range: 54.997154 and range: 55.30 m.
2025-08-21T07:01:50.440Z,1755759710.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467622
2025-08-21T07:01:50.672Z,1755759710.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.00 m.
2025-08-21T07:01:50.675Z,1755759710.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.997154 m,
      nav range: 53.275101 m,
      bearing: 104.749371 deg,
      approach rate: -0.515087 m/s,
      LOS rate: -0.019258 deg/s,
      cmd heading: 100.611808 deg,
      new cmd heading: 100.589595 deg.

2025-08-21T07:01:50.676Z,1755759710.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755620 target range: 54.997154 and range: 55.30 m.
2025-08-21T07:01:50.692Z,1755759710.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719741
2025-08-21T07:01:50.944Z,1755759710.944 [DAT](INFO): DAT read: Rx Time:07:01:49.7968

2025-08-21T07:01:50.945Z,1755759710.945 [DAT](INFO): Rx dataTimestamp_ set to:1755759710.944433
2025-08-21T07:01:50.945Z,1755759710.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972726
2025-08-21T07:01:51.134Z,1755759711.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:51.136Z,1755759711.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.00 m.
2025-08-21T07:01:51.139Z,1755759711.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.997154 m,
      nav range: 53.036243 m,
      bearing: 104.736685 deg,
      approach rate: -0.515027 m/s,
      LOS rate: -0.027478 deg/s,
      cmd heading: 100.589596 deg,
      new cmd heading: 100.551366 deg.

2025-08-21T07:01:51.141Z,1755759711.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754952 target range: 54.997154 and range: 55.30 m.
2025-08-21T07:01:51.197Z,1755759711.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.224423
2025-08-21T07:01:51.448Z,1755759711.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.475899
2025-08-21T07:01:51.539Z,1755759711.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.00 m.
2025-08-21T07:01:51.541Z,1755759711.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 54.997154 m,
      nav range: 52.828369 m,
      bearing: 104.725315 deg,
      approach rate: -0.516621 m/s,
      LOS rate: -0.028369 deg/s,
      cmd heading: 100.551368 deg,
      new cmd heading: 100.517123 deg.

2025-08-21T07:01:51.542Z,1755759711.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754355 target range: 54.997154 and range: 55.30 m.
2025-08-21T07:01:51.706Z,1755759711.706 [DAT](INFO): DAT read: 07:01:49.7968 LVL= 21984, 30017, 21682, 32755, AGC= 59, IDX= 421,-0.02,-0.271,-1.966,-0.149,-0.534, PHS= 0.365,-1.387, 0.341, RAW= 149.3,   7.9, CAL= 148.8,   8.5, ROT=   1.2,  -8.5

2025-08-21T07:01:51.711Z,1755759711.711 [DAT](INFO): got valid direction response:
 07:01:49.7968 LVL= 21984, 30017, 21682, 32755, AGC= 59, IDX= 421,-0.02,-0.271,-1.966,-0.149,-0.534, PHS= 0.365,-1.387, 0.341, RAW= 149.3,   7.9, CAL= 148.8,   8.5, ROT=   1.2,  -8.5

2025-08-21T07:01:51.712Z,1755759711.712 [DAT](INFO): DAT read: Bearing 275.5,  -1.1 (Local)

2025-08-21T07:01:51.713Z,1755759711.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.5,  -1.1 (Local)

2025-08-21T07:01:51.714Z,1755759711.714 [DAT](INFO): DAT read: Range 11 to 50 : 53.3 m  (Round-trip  71.1 ms) speed  0.4 m/s

2025-08-21T07:01:51.715Z,1755759711.715 [DAT](INFO): DAT read: user:2049>

2025-08-21T07:01:51.716Z,1755759711.716 [DAT](INFO): DAT read: Tx time:07:01:50.9215

2025-08-21T07:01:51.717Z,1755759711.717 [DAT](INFO): Ping request sent.
2025-08-21T07:01:51.717Z,1755759711.717 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:51.717Z,1755759711.717 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:51.718Z,1755759711.718 [DAT](INFO): direction in FSK: [0.988799,0.020712,0.147809]
2025-08-21T07:01:51.718Z,1755759711.718 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:51.718Z,1755759711.718 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:51.722Z,1755759711.722 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:51.722Z,1755759711.722 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:52.069Z,1755759712.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.299999 m,
      deltaT: 3.777592 s,
      deltaX: -2.000000 m,
      approachRate: -0.529438 m/s,
      rangeRepo size: 4

2025-08-21T07:01:52.077Z,1755759712.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 53.007416 m,
      bearing: 103.293694 deg,
      lat: 36.779339 deg,
      lon: -121.859417 deg,
      deltaT: 3.777592 s,
      deltaX: -1.989738 m,
      approachRate: -0.526721 m/s,
      posRepo size: 4

2025-08-21T07:01:52.079Z,1755759712.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.01 m.
2025-08-21T07:01:52.092Z,1755759712.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.007416 m,
      nav range: 52.675594 m,
      bearing: 104.690759 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028369 deg/s,
      cmd heading: 100.517121 deg,
      new cmd heading: 100.472499 deg.

2025-08-21T07:01:52.093Z,1755759712.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753576 target range: 53.007416 and range: 53.30 m.
2025-08-21T07:01:52.473Z,1755759712.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.01 m.
2025-08-21T07:01:52.481Z,1755759712.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.007416 m,
      nav range: 52.443935 m,
      bearing: 104.676430 deg,
      approach rate: -0.564855 m/s,
      LOS rate: -0.035091 deg/s,
      cmd heading: 100.472499 deg,
      new cmd heading: 100.429325 deg.

2025-08-21T07:01:52.482Z,1755759712.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.752822 target range: 53.007416 and range: 53.30 m.
2025-08-21T07:01:52.870Z,1755759712.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.01 m.
2025-08-21T07:01:52.889Z,1755759712.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.007416 m,
      nav range: 52.242443 m,
      bearing: 104.663840 deg,
      approach rate: -0.507761 m/s,
      LOS rate: -0.031851 deg/s,
      cmd heading: 100.429326 deg,
      new cmd heading: 100.391408 deg.

2025-08-21T07:01:52.890Z,1755759712.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.752161 target range: 53.007416 and range: 53.30 m.
2025-08-21T07:01:53.285Z,1755759713.285 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:53.287Z,1755759713.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.01 m.
2025-08-21T07:01:53.290Z,1755759713.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.007416 m,
      nav range: 52.039982 m,
      bearing: 104.647280 deg,
      approach rate: -0.485487 m/s,
      LOS rate: -0.039863 deg/s,
      cmd heading: 100.391411 deg,
      new cmd heading: 100.341540 deg.

2025-08-21T07:01:53.291Z,1755759713.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.751290 target range: 53.007416 and range: 53.30 m.
2025-08-21T07:01:53.464Z,1755759713.464 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:53.464Z,1755759713.464 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:53.464Z,1755759713.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:53.669Z,1755759713.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.01 m.
2025-08-21T07:01:53.672Z,1755759713.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.007416 m,
      nav range: 51.854214 m,
      bearing: 104.631972 deg,
      approach rate: -0.486781 m/s,
      LOS rate: -0.040256 deg/s,
      cmd heading: 100.341537 deg,
      new cmd heading: 100.295449 deg.

2025-08-21T07:01:53.673Z,1755759713.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.750486 target range: 53.007416 and range: 53.30 m.
2025-08-21T07:01:53.717Z,1755759713.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000281
2025-08-21T07:01:53.968Z,1755759713.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251669
2025-08-21T07:01:54.145Z,1755759714.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.01 m.
2025-08-21T07:01:54.149Z,1755759714.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.007416 m,
      nav range: 51.627262 m,
      bearing: 104.612648 deg,
      approach rate: -0.477907 m/s,
      LOS rate: -0.040872 deg/s,
      cmd heading: 100.295447 deg,
      new cmd heading: 100.237218 deg.

2025-08-21T07:01:54.151Z,1755759714.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749470 target range: 53.007416 and range: 53.30 m.
2025-08-21T07:01:54.220Z,1755759714.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503637
2025-08-21T07:01:54.472Z,1755759714.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755537
2025-08-21T07:01:54.528Z,1755759714.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.01 m.
2025-08-21T07:01:54.531Z,1755759714.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.007416 m,
      nav range: 51.444218 m,
      bearing: 104.596913 deg,
      approach rate: -0.475999 m/s,
      LOS rate: -0.041062 deg/s,
      cmd heading: 100.237220 deg,
      new cmd heading: 100.189849 deg.

2025-08-21T07:01:54.532Z,1755759714.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.748643 target range: 53.007416 and range: 53.30 m.
2025-08-21T07:01:54.724Z,1755759714.724 [DAT](INFO): DAT read: Rx Time:07:01:53.3945

2025-08-21T07:01:54.725Z,1755759714.725 [DAT](INFO): Rx dataTimestamp_ set to:1755759714.724414
2025-08-21T07:01:54.725Z,1755759714.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008574
2025-08-21T07:01:54.976Z,1755759714.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259561
2025-08-21T07:01:55.108Z,1755759715.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.01 m.
2025-08-21T07:01:55.118Z,1755759715.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 53.007416 m,
      nav range: 51.210159 m,
      bearing: 104.576701 deg,
      approach rate: -0.404919 m/s,
      LOS rate: -0.035127 deg/s,
      cmd heading: 100.189852 deg,
      new cmd heading: 100.128939 deg.

2025-08-21T07:01:55.122Z,1755759715.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747580 target range: 53.007416 and range: 53.30 m.
2025-08-21T07:01:55.235Z,1755759715.235 [DAT](INFO): DAT read: 07:01:53.3945 LVL= 20640, 28945, 20274, 32675, AGC= 62, IDX= 413,-0.36, 2.793, 1.120, 2.963, 2.551, PHS= 0.344,-1.386, 0.368, RAW= 150.7,   7.8, CAL= 150.1,   8.3, ROT= 359.9,  -8.3

2025-08-21T07:01:55.236Z,1755759715.236 [DAT](INFO): got valid direction response:
 07:01:53.3945 LVL= 20640, 28945, 20274, 32675, AGC= 62, IDX= 413,-0.36, 2.793, 1.120, 2.963, 2.551, PHS= 0.344,-1.386, 0.368, RAW= 150.7,   7.8, CAL= 150.1,   8.3, ROT= 359.9,  -8.3

2025-08-21T07:01:55.237Z,1755759715.237 [DAT](INFO): DAT read: Bearing 276.0,  -2.3 (Local)

2025-08-21T07:01:55.238Z,1755759715.238 [DAT](INFO): Local bearing/azimuth received:
 Bearing 276.0,  -2.3 (Local)

2025-08-21T07:01:55.243Z,1755759715.243 [DAT](INFO): DAT read: Range 11 to 50 : 51.6 m  (Round-trip  68.8 ms) speed  0.4 m/s

2025-08-21T07:01:55.289Z,1755759715.289 [DAT](INFO): DAT read: user:2050>

2025-08-21T07:01:55.289Z,1755759715.289 [DAT](INFO): DAT read: Tx time:07:01:54.5215

2025-08-21T07:01:55.290Z,1755759715.290 [DAT](INFO): Ping request sent.
2025-08-21T07:01:55.290Z,1755759715.290 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:55.290Z,1755759715.290 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:55.299Z,1755759715.299 [DAT](INFO): direction in FSK: [0.989524,-0.001727,0.144356]
2025-08-21T07:01:55.300Z,1755759715.300 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:55.300Z,1755759715.300 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:55.303Z,1755759715.303 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:55.311Z,1755759715.311 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:55.531Z,1755759715.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 51.599998 m,
      deltaT: 3.528351 s,
      deltaX: -1.700001 m,
      approachRate: -0.481812 m/s,
      rangeRepo size: 4

2025-08-21T07:01:55.537Z,1755759715.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 51.317936 m,
      bearing: 102.113573 deg,
      lat: 36.779340 deg,
      lon: -121.859417 deg,
      deltaT: 3.528351 s,
      deltaX: -1.689480 m,
      approachRate: -0.478830 m/s,
      posRepo size: 4

2025-08-21T07:01:55.538Z,1755759715.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m.
2025-08-21T07:01:55.553Z,1755759715.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.317936 m,
      nav range: 50.963280 m,
      bearing: 104.374587 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035127 deg/s,
      cmd heading: 100.128941 deg,
      new cmd heading: 100.084261 deg.

2025-08-21T07:01:55.559Z,1755759715.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.746800 target range: 51.317936 and range: 51.60 m.
2025-08-21T07:01:55.967Z,1755759715.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:55.969Z,1755759715.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m.
2025-08-21T07:01:55.972Z,1755759715.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.317936 m,
      nav range: 50.747318 m,
      bearing: 104.353098 deg,
      approach rate: -0.491435 m/s,
      LOS rate: -0.049109 deg/s,
      cmd heading: 100.084258 deg,
      new cmd heading: 100.019514 deg.

2025-08-21T07:01:55.973Z,1755759715.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.745670 target range: 51.317936 and range: 51.60 m.
2025-08-21T07:01:55.984Z,1755759715.984 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:01:55.984Z,1755759715.984 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:01:55.984Z,1755759715.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:01:56.237Z,1755759716.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.946926
2025-08-21T07:01:56.368Z,1755759716.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m.
2025-08-21T07:01:56.371Z,1755759716.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.317936 m,
      nav range: 50.538296 m,
      bearing: 104.335812 deg,
      approach rate: -0.524385 m/s,
      LOS rate: -0.043546 deg/s,
      cmd heading: 100.019514 deg,
      new cmd heading: 99.967442 deg.

2025-08-21T07:01:56.372Z,1755759716.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.744761 target range: 51.317936 and range: 51.60 m.
2025-08-21T07:01:56.488Z,1755759716.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.198490
2025-08-21T07:01:56.740Z,1755759716.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.450519
2025-08-21T07:01:56.749Z,1755759716.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m.
2025-08-21T07:01:56.752Z,1755759716.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.317936 m,
      nav range: 50.347347 m,
      bearing: 104.319880 deg,
      approach rate: -0.501069 m/s,
      LOS rate: -0.041965 deg/s,
      cmd heading: 99.967441 deg,
      new cmd heading: 99.919465 deg.

2025-08-21T07:01:56.753Z,1755759716.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.743924 target range: 51.317936 and range: 51.60 m.
2025-08-21T07:01:56.993Z,1755759716.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.702817
2025-08-21T07:01:57.203Z,1755759717.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m.
2025-08-21T07:01:57.229Z,1755759717.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.317936 m,
      nav range: 50.125919 m,
      bearing: 104.300399 deg,
      approach rate: -0.488022 m/s,
      LOS rate: -0.043126 deg/s,
      cmd heading: 99.919466 deg,
      new cmd heading: 99.860764 deg.

2025-08-21T07:01:57.230Z,1755759717.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.742899 target range: 51.317936 and range: 51.60 m.
2025-08-21T07:01:57.244Z,1755759717.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.954544
2025-08-21T07:01:57.497Z,1755759717.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207296
2025-08-21T07:01:57.590Z,1755759717.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m.
2025-08-21T07:01:57.602Z,1755759717.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.317936 m,
      nav range: 49.937439 m,
      bearing: 104.283621 deg,
      approach rate: -0.486303 m/s,
      LOS rate: -0.043451 deg/s,
      cmd heading: 99.860767 deg,
      new cmd heading: 99.810245 deg.

2025-08-21T07:01:57.603Z,1755759717.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.742017 target range: 51.317936 and range: 51.60 m.
2025-08-21T07:01:57.748Z,1755759717.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.458415
2025-08-21T07:01:57.969Z,1755759717.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m.
2025-08-21T07:01:57.976Z,1755759717.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.317936 m,
      nav range: 49.753643 m,
      bearing: 104.267181 deg,
      approach rate: -0.486099 m/s,
      LOS rate: -0.043642 deg/s,
      cmd heading: 99.810244 deg,
      new cmd heading: 99.760741 deg.

2025-08-21T07:01:57.977Z,1755759717.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.741153 target range: 51.317936 and range: 51.60 m.
2025-08-21T07:01:58.000Z,1755759718.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.710629
2025-08-21T07:01:58.253Z,1755759718.253 [DAT](INFO): DAT read: Rx Time:07:01:56.9919

2025-08-21T07:01:58.253Z,1755759718.253 [DAT](INFO): Rx dataTimestamp_ set to:1755759718.253057
2025-08-21T07:01:58.254Z,1755759718.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.964484
2025-08-21T07:01:58.417Z,1755759718.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:01:58.420Z,1755759718.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m.
2025-08-21T07:01:58.428Z,1755759718.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 51.317936 m,
      nav range: 49.521290 m,
      bearing: 104.251433 deg,
      approach rate: -0.515202 m/s,
      LOS rate: -0.035081 deg/s,
      cmd heading: 99.760739 deg,
      new cmd heading: 99.713275 deg.

2025-08-21T07:01:58.429Z,1755759718.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.740325 target range: 51.317936 and range: 51.60 m.
2025-08-21T07:01:58.505Z,1755759718.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215352
2025-08-21T07:01:58.762Z,1755759718.762 [DAT](INFO): DAT read: 07:01:56.9919 LVL= 26176, 31681, 25634, 30707, AGC= 62, IDX= 419, 0.20, 0.372,-1.286, 0.590, 0.130, PHS= 0.343,-1.371, 0.415, RAW= 152.0,   7.0, CAL= 151.4,   7.4, ROT= 358.6,  -7.4

2025-08-21T07:01:58.763Z,1755759718.763 [DAT](INFO): got valid direction response:
 07:01:56.9919 LVL= 26176, 31681, 25634, 30707, AGC= 62, IDX= 419, 0.20, 0.372,-1.286, 0.590, 0.130, PHS= 0.343,-1.371, 0.415, RAW= 152.0,   7.0, CAL= 151.4,   7.4, ROT= 358.6,  -7.4

2025-08-21T07:01:58.764Z,1755759718.764 [DAT](INFO): DAT read: Bearing 275.2,  -3.6 (Local)

2025-08-21T07:01:58.764Z,1755759718.764 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.2,  -3.6 (Local)

2025-08-21T07:01:58.766Z,1755759718.766 [DAT](INFO): DAT read: Range 11 to 50 : 49.7 m  (Round-trip  66.3 ms) speed  0.4 m/s

2025-08-21T07:01:58.766Z,1755759718.766 [DAT](INFO): DAT read: user:2051>

2025-08-21T07:01:58.767Z,1755759718.767 [DAT](INFO): DAT read: Tx time:07:01:58.1215

2025-08-21T07:01:58.767Z,1755759718.767 [DAT](INFO): Ping request sent.
2025-08-21T07:01:58.767Z,1755759718.767 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:01:58.768Z,1755759718.768 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:01:58.769Z,1755759718.769 [DAT](INFO): direction in FSK: [0.991375,-0.024228,0.128796]
2025-08-21T07:01:58.769Z,1755759718.769 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:58.769Z,1755759718.769 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:58.772Z,1755759718.772 [DAT](INFO): publishing transmit ping time
2025-08-21T07:01:58.773Z,1755759718.773 [DAT](INFO): publishing direction and range info
2025-08-21T07:01:58.908Z,1755759718.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 49.700001 m,
      deltaT: 3.527479 s,
      deltaX: -1.899998 m,
      approachRate: -0.538628 m/s,
      rangeRepo size: 4

2025-08-21T07:01:58.910Z,1755759718.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 49.428326 m,
      bearing: 100.989290 deg,
      lat: 36.779350 deg,
      lon: -121.859413 deg,
      deltaT: 3.527479 s,
      deltaX: -1.889610 m,
      approachRate: -0.535683 m/s,
      posRepo size: 4

2025-08-21T07:01:58.923Z,1755759718.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.43 m.
2025-08-21T07:01:58.926Z,1755759718.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.428326 m,
      nav range: 49.365593 m,
      bearing: 102.929700 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035081 deg/s,
      cmd heading: 99.713276 deg,
      new cmd heading: 99.662764 deg.

2025-08-21T07:01:58.931Z,1755759718.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.739443 target range: 49.428326 and range: 49.70 m.
2025-08-21T07:01:59.297Z,1755759719.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.43 m.
2025-08-21T07:01:59.311Z,1755759719.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.428326 m,
      nav range: 49.134773 m,
      bearing: 102.909968 deg,
      approach rate: -0.580085 m/s,
      LOS rate: -0.049822 deg/s,
      cmd heading: 99.662767 deg,
      new cmd heading: 99.603293 deg.

2025-08-21T07:01:59.320Z,1755759719.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.738405 target range: 49.428326 and range: 49.70 m.
2025-08-21T07:01:59.785Z,1755759719.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.43 m.
2025-08-21T07:01:59.788Z,1755759719.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.428326 m,
      nav range: 48.868122 m,
      bearing: 102.886956 deg,
      approach rate: -0.546573 m/s,
      LOS rate: -0.047427 deg/s,
      cmd heading: 99.603296 deg,
      new cmd heading: 99.533883 deg.

2025-08-21T07:01:59.789Z,1755759719.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.737194 target range: 49.428326 and range: 49.70 m.
2025-08-21T07:01:59.881Z,1755759719.881 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:02:00.231Z,1755759720.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.43 m.
2025-08-21T07:02:00.234Z,1755759720.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.428326 m,
      nav range: 48.634552 m,
      bearing: 102.867638 deg,
      approach rate: -0.523910 m/s,
      LOS rate: -0.043539 deg/s,
      cmd heading: 99.533881 deg,
      new cmd heading: 99.475649 deg.

2025-08-21T07:02:00.235Z,1755759720.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.736178 target range: 49.428326 and range: 49.70 m.
2025-08-21T07:02:00.632Z,1755759720.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:00.634Z,1755759720.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.43 m.
2025-08-21T07:02:00.637Z,1755759720.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.428326 m,
      nav range: 48.424015 m,
      bearing: 102.850148 deg,
      approach rate: -0.523003 m/s,
      LOS rate: -0.043638 deg/s,
      cmd heading: 99.475647 deg,
      new cmd heading: 99.422947 deg.

2025-08-21T07:02:00.637Z,1755759720.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.735258 target range: 49.428326 and range: 49.70 m.
2025-08-21T07:02:00.772Z,1755759720.772 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:00.772Z,1755759720.772 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:00.772Z,1755759720.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:00.885Z,1755759720.885 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:02:01.025Z,1755759721.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256970
2025-08-21T07:02:01.030Z,1755759721.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.43 m.
2025-08-21T07:02:01.038Z,1755759721.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.428326 m,
      nav range: 48.217579 m,
      bearing: 102.832852 deg,
      approach rate: -0.520990 m/s,
      LOS rate: -0.043836 deg/s,
      cmd heading: 99.422945 deg,
      new cmd heading: 99.370837 deg.

2025-08-21T07:02:01.056Z,1755759721.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.734348 target range: 49.428326 and range: 49.70 m.
2025-08-21T07:02:01.276Z,1755759721.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508722
2025-08-21T07:02:01.465Z,1755759721.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.43 m.
2025-08-21T07:02:01.468Z,1755759721.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.428326 m,
      nav range: 47.986771 m,
      bearing: 102.810505 deg,
      approach rate: -0.530235 m/s,
      LOS rate: -0.051585 deg/s,
      cmd heading: 99.370838 deg,
      new cmd heading: 99.303474 deg.

2025-08-21T07:02:01.469Z,1755759721.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.733173 target range: 49.428326 and range: 49.70 m.
2025-08-21T07:02:01.529Z,1755759721.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761827
2025-08-21T07:02:01.780Z,1755759721.780 [DAT](INFO): DAT read: Rx Time:07:02:00.5896

2025-08-21T07:02:01.781Z,1755759721.781 [DAT](INFO): Rx dataTimestamp_ set to:1755759721.780399
2025-08-21T07:02:01.781Z,1755759721.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013707
2025-08-21T07:02:01.856Z,1755759721.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.43 m.
2025-08-21T07:02:01.858Z,1755759721.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 49.428326 m,
      nav range: 47.780659 m,
      bearing: 102.790594 deg,
      approach rate: -0.527559 m/s,
      LOS rate: -0.051183 deg/s,
      cmd heading: 99.303471 deg,
      new cmd heading: 99.243481 deg.

2025-08-21T07:02:01.860Z,1755759721.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.732126 target range: 49.428326 and range: 49.70 m.
2025-08-21T07:02:02.038Z,1755759722.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270146
2025-08-21T07:02:02.305Z,1755759722.305 [DAT](INFO): DAT read: 07:02:00.5896 LVL= 22672, 30641, 21826, 32115, AGC= 60, IDX= 411, 0.14,-2.238, 2.372,-2.001,-2.468, PHS= 0.332,-1.398, 0.423, RAW= 152.5,   7.3, CAL= 152.0,   7.7, ROT= 358.0,  -7.7

2025-08-21T07:02:02.306Z,1755759722.306 [DAT](INFO): got valid direction response:
 07:02:00.5896 LVL= 22672, 30641, 21826, 32115, AGC= 60, IDX= 411, 0.14,-2.238, 2.372,-2.001,-2.468, PHS= 0.332,-1.398, 0.423, RAW= 152.5,   7.3, CAL= 152.0,   7.7, ROT= 358.0,  -7.7

2025-08-21T07:02:02.316Z,1755759722.316 [DAT](INFO): DAT read: Bearing 275.3,  -3.9 (Local)

2025-08-21T07:02:02.316Z,1755759722.316 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.3,  -3.9 (Local)

2025-08-21T07:02:02.317Z,1755759722.317 [DAT](INFO): DAT read: Range 11 to 50 : 47.9 m  (Round-trip  63.9 ms) speed  0.4 m/s

2025-08-21T07:02:02.318Z,1755759722.318 [DAT](INFO): DAT read: user:2052>

2025-08-21T07:02:02.319Z,1755759722.319 [DAT](INFO): DAT read: Tx time:07:02:01.6715

2025-08-21T07:02:02.323Z,1755759722.323 [DAT](INFO): Ping request sent.
2025-08-21T07:02:02.325Z,1755759722.325 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:02.325Z,1755759722.325 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:02.326Z,1755759722.326 [DAT](INFO): direction in FSK: [0.990380,-0.034585,0.133986]
2025-08-21T07:02:02.327Z,1755759722.327 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:02.327Z,1755759722.327 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:02.334Z,1755759722.334 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:02.334Z,1755759722.334 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:02.361Z,1755759722.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.900002 m,
      deltaT: 3.529886 s,
      deltaX: -1.799999 m,
      approachRate: -0.509931 m/s,
      rangeRepo size: 4

2025-08-21T07:02:02.371Z,1755759722.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.637951 m,
      bearing: 100.199430 deg,
      lat: 36.779358 deg,
      lon: -121.859411 deg,
      deltaT: 3.529886 s,
      deltaX: -1.790375 m,
      approachRate: -0.507205 m/s,
      posRepo size: 4

2025-08-21T07:02:02.372Z,1755759722.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-08-21T07:02:02.375Z,1755759722.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.637951 m,
      nav range: 47.601730 m,
      bearing: 101.701688 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.051183 deg/s,
      cmd heading: 99.243482 deg,
      new cmd heading: 99.165995 deg.

2025-08-21T07:02:02.380Z,1755759722.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.730773 target range: 47.637951 and range: 47.90 m.
2025-08-21T07:02:02.707Z,1755759722.707 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:02.709Z,1755759722.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-08-21T07:02:02.712Z,1755759722.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.637951 m,
      nav range: 47.410686 m,
      bearing: 101.681232 deg,
      approach rate: -0.547385 m/s,
      LOS rate: -0.058847 deg/s,
      cmd heading: 99.165993 deg,
      new cmd heading: 99.104378 deg.

2025-08-21T07:02:02.713Z,1755759722.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.729698 target range: 47.637951 and range: 47.90 m.
2025-08-21T07:02:02.788Z,1755759722.788 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:02.788Z,1755759722.788 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:02.789Z,1755759722.789 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:03.041Z,1755759723.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.717845
2025-08-21T07:02:03.103Z,1755759723.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-08-21T07:02:03.106Z,1755759723.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.637951 m,
      nav range: 47.211914 m,
      bearing: 101.659864 deg,
      approach rate: -0.505292 m/s,
      LOS rate: -0.054549 deg/s,
      cmd heading: 99.104378 deg,
      new cmd heading: 99.040003 deg.

2025-08-21T07:02:03.107Z,1755759723.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.728574 target range: 47.637951 and range: 47.90 m.
2025-08-21T07:02:03.296Z,1755759723.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972262
2025-08-21T07:02:03.546Z,1755759723.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222530
2025-08-21T07:02:03.570Z,1755759723.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-08-21T07:02:03.581Z,1755759723.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.637951 m,
      nav range: 46.993790 m,
      bearing: 101.633591 deg,
      approach rate: -0.466520 m/s,
      LOS rate: -0.056453 deg/s,
      cmd heading: 99.040004 deg,
      new cmd heading: 98.960820 deg.

2025-08-21T07:02:03.582Z,1755759723.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.727192 target range: 47.637951 and range: 47.90 m.
2025-08-21T07:02:03.797Z,1755759723.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.473214
2025-08-21T07:02:03.980Z,1755759723.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-08-21T07:02:03.982Z,1755759723.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.637951 m,
      nav range: 46.785309 m,
      bearing: 101.608249 deg,
      approach rate: -0.509250 m/s,
      LOS rate: -0.062178 deg/s,
      cmd heading: 98.960821 deg,
      new cmd heading: 98.884457 deg.

2025-08-21T07:02:03.984Z,1755759723.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.725859 target range: 47.637951 and range: 47.90 m.
2025-08-21T07:02:04.050Z,1755759724.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726223
2025-08-21T07:02:04.300Z,1755759724.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976767
2025-08-21T07:02:04.375Z,1755759724.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-08-21T07:02:04.378Z,1755759724.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.637951 m,
      nav range: 46.595684 m,
      bearing: 101.587672 deg,
      approach rate: -0.484622 m/s,
      LOS rate: -0.052802 deg/s,
      cmd heading: 98.884460 deg,
      new cmd heading: 98.822478 deg.

2025-08-21T07:02:04.383Z,1755759724.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724778 target range: 47.637951 and range: 47.90 m.
2025-08-21T07:02:04.553Z,1755759724.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229753
2025-08-21T07:02:04.738Z,1755759724.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:04.740Z,1755759724.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-08-21T07:02:04.743Z,1755759724.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.637951 m,
      nav range: 46.403591 m,
      bearing: 101.566965 deg,
      approach rate: -0.520332 m/s,
      LOS rate: -0.056323 deg/s,
      cmd heading: 98.822476 deg,
      new cmd heading: 98.760097 deg.

2025-08-21T07:02:04.744Z,1755759724.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.723689 target range: 47.637951 and range: 47.90 m.
2025-08-21T07:02:04.804Z,1755759724.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480985
2025-08-21T07:02:05.056Z,1755759725.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733083
2025-08-21T07:02:05.280Z,1755759725.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-08-21T07:02:05.282Z,1755759725.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.637951 m,
      nav range: 46.159988 m,
      bearing: 101.540882 deg,
      approach rate: -0.455602 m/s,
      LOS rate: -0.049039 deg/s,
      cmd heading: 98.760096 deg,
      new cmd heading: 98.681435 deg.

2025-08-21T07:02:05.287Z,1755759725.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.722316 target range: 47.637951 and range: 47.90 m.
2025-08-21T07:02:05.309Z,1755759725.309 [DAT](INFO): DAT read: Rx Time:07:02:04.1372

2025-08-21T07:02:05.309Z,1755759725.309 [DAT](INFO): Rx dataTimestamp_ set to:1755759725.308706
2025-08-21T07:02:05.310Z,1755759725.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.986137
2025-08-21T07:02:05.564Z,1755759725.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240371
2025-08-21T07:02:05.690Z,1755759725.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.64 m.
2025-08-21T07:02:05.693Z,1755759725.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.637951 m,
      nav range: 45.938564 m,
      bearing: 101.512371 deg,
      approach rate: -0.532938 m/s,
      LOS rate: -0.068954 deg/s,
      cmd heading: 98.681432 deg,
      new cmd heading: 98.595486 deg.

2025-08-21T07:02:05.694Z,1755759725.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.720816 target range: 47.637951 and range: 47.90 m.
2025-08-21T07:02:05.816Z,1755759725.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491985
2025-08-21T07:02:06.070Z,1755759726.070 [DAT](INFO): DAT read: 07:02:04.1372 LVL= 21136, 27329, 22754, 27699, AGC= 62, IDX= 419, 0.16,-3.122, 1.453,-2.877, 2.938, PHS= 0.325,-1.440, 0.424, RAW= 152.7,   7.7, CAL= 152.2,   8.1, ROT= 357.8,  -8.1

2025-08-21T07:02:06.071Z,1755759726.071 [DAT](INFO): got valid direction response:
 07:02:04.1372 LVL= 21136, 27329, 22754, 27699, AGC= 62, IDX= 419, 0.16,-3.122, 1.453,-2.877, 2.938, PHS= 0.325,-1.440, 0.424, RAW= 152.7,   7.7, CAL= 152.2,   8.1, ROT= 357.8,  -8.1

2025-08-21T07:02:06.076Z,1755759726.076 [DAT](INFO): DAT read: Bearing 275.2,  -3.8 (Local)

2025-08-21T07:02:06.076Z,1755759726.076 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.2,  -3.8 (Local)

2025-08-21T07:02:06.078Z,1755759726.078 [DAT](INFO): DAT read: Range 11 to 50 : 46.2 m  (Round-trip  61.6 ms) speed  0.4 m/s

2025-08-21T07:02:06.079Z,1755759726.079 [DAT](INFO): DAT read: user:2053>

2025-08-21T07:02:06.088Z,1755759726.088 [DAT](INFO): DAT read: Tx time:07:02:05.2214

2025-08-21T07:02:06.088Z,1755759726.088 [DAT](INFO): Ping request sent.
2025-08-21T07:02:06.088Z,1755759726.088 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:06.088Z,1755759726.088 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:06.089Z,1755759726.089 [DAT](INFO): direction in FSK: [0.989294,-0.038005,0.140901]
2025-08-21T07:02:06.090Z,1755759726.090 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:06.090Z,1755759726.090 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:06.105Z,1755759726.105 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:06.106Z,1755759726.106 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:06.188Z,1755759726.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.200001 m,
      deltaT: 3.778278 s,
      deltaX: -1.700001 m,
      approachRate: -0.449941 m/s,
      rangeRepo size: 4

2025-08-21T07:02:06.205Z,1755759726.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.947060 m,
      bearing: 99.564212 deg,
      lat: 36.779365 deg,
      lon: -121.859410 deg,
      deltaT: 3.778278 s,
      deltaX: -1.690891 m,
      approachRate: -0.447530 m/s,
      posRepo size: 4

2025-08-21T07:02:06.216Z,1755759726.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.95 m.
2025-08-21T07:02:06.250Z,1755759726.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.947060 m,
      nav range: 45.579964 m,
      bearing: 100.498503 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.068954 deg/s,
      cmd heading: 98.595488 deg,
      new cmd heading: 98.498753 deg.

2025-08-21T07:02:06.261Z,1755759726.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.719128 target range: 45.947060 and range: 46.20 m.
2025-08-21T07:02:06.677Z,1755759726.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.95 m.
2025-08-21T07:02:06.680Z,1755759726.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.947060 m,
      nav range: 45.327724 m,
      bearing: 100.455337 deg,
      approach rate: -0.486004 m/s,
      LOS rate: -0.083634 deg/s,
      cmd heading: 98.498752 deg,
      new cmd heading: 98.368532 deg.

2025-08-21T07:02:06.681Z,1755759726.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.716855 target range: 45.947060 and range: 46.20 m.
2025-08-21T07:02:07.057Z,1755759727.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:07.059Z,1755759727.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.95 m.
2025-08-21T07:02:07.062Z,1755759727.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.947060 m,
      nav range: 45.155048 m,
      bearing: 100.425963 deg,
      approach rate: -0.451945 m/s,
      LOS rate: -0.077175 deg/s,
      cmd heading: 98.368535 deg,
      new cmd heading: 98.280075 deg.

2025-08-21T07:02:07.063Z,1755759727.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.715311 target range: 45.947060 and range: 46.20 m.
2025-08-21T07:02:07.072Z,1755759727.072 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:07.072Z,1755759727.072 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:07.073Z,1755759727.073 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:07.324Z,1755759727.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236089
2025-08-21T07:02:07.474Z,1755759727.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.95 m.
2025-08-21T07:02:07.481Z,1755759727.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.947060 m,
      nav range: 44.970345 m,
      bearing: 100.400543 deg,
      approach rate: -0.445521 m/s,
      LOS rate: -0.061567 deg/s,
      cmd heading: 98.280077 deg,
      new cmd heading: 98.203504 deg.

2025-08-21T07:02:07.482Z,1755759727.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.713974 target range: 45.947060 and range: 46.20 m.
2025-08-21T07:02:07.576Z,1755759727.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488158
2025-08-21T07:02:07.828Z,1755759727.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740072
2025-08-21T07:02:07.845Z,1755759727.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.95 m.
2025-08-21T07:02:07.848Z,1755759727.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.947060 m,
      nav range: 44.787624 m,
      bearing: 100.375714 deg,
      approach rate: -0.492620 m/s,
      LOS rate: -0.067213 deg/s,
      cmd heading: 98.203504 deg,
      new cmd heading: 98.128713 deg.

2025-08-21T07:02:07.849Z,1755759727.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.712669 target range: 45.947060 and range: 46.20 m.
2025-08-21T07:02:08.080Z,1755759728.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992313
2025-08-21T07:02:08.311Z,1755759728.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.95 m.
2025-08-21T07:02:08.318Z,1755759728.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.947060 m,
      nav range: 44.582340 m,
      bearing: 100.348103 deg,
      approach rate: -0.440309 m/s,
      LOS rate: -0.059495 deg/s,
      cmd heading: 98.128713 deg,
      new cmd heading: 98.045499 deg.

2025-08-21T07:02:08.319Z,1755759728.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.711217 target range: 45.947060 and range: 46.20 m.
2025-08-21T07:02:08.333Z,1755759728.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244376
2025-08-21T07:02:08.584Z,1755759728.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495987
2025-08-21T07:02:08.696Z,1755759728.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.95 m.
2025-08-21T07:02:08.699Z,1755759728.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.947060 m,
      nav range: 44.381718 m,
      bearing: 100.319065 deg,
      approach rate: -0.520808 m/s,
      LOS rate: -0.075721 deg/s,
      cmd heading: 98.045501 deg,
      new cmd heading: 97.957995 deg.

2025-08-21T07:02:08.700Z,1755759728.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.709689 target range: 45.947060 and range: 46.20 m.
2025-08-21T07:02:08.837Z,1755759728.837 [DAT](INFO): DAT read: Rx Time:07:02:07.6848

2025-08-21T07:02:08.838Z,1755759728.838 [DAT](INFO): Rx dataTimestamp_ set to:1755759728.837566
2025-08-21T07:02:08.838Z,1755759728.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750225
2025-08-21T07:02:09.088Z,1755759729.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000193
2025-08-21T07:02:09.089Z,1755759729.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:09.091Z,1755759729.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.95 m.
2025-08-21T07:02:09.094Z,1755759729.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.947060 m,
      nav range: 44.190121 m,
      bearing: 100.291589 deg,
      approach rate: -0.485257 m/s,
      LOS rate: -0.069891 deg/s,
      cmd heading: 97.957993 deg,
      new cmd heading: 97.875206 deg.

2025-08-21T07:02:09.095Z,1755759729.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.708245 target range: 45.947060 and range: 46.20 m.
2025-08-21T07:02:09.340Z,1755759729.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252076
2025-08-21T07:02:09.530Z,1755759729.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.95 m.
2025-08-21T07:02:09.552Z,1755759729.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.947060 m,
      nav range: 43.971764 m,
      bearing: 100.260248 deg,
      approach rate: -0.497560 m/s,
      LOS rate: -0.071769 deg/s,
      cmd heading: 97.875204 deg,
      new cmd heading: 97.780716 deg.

2025-08-21T07:02:09.553Z,1755759729.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.706595 target range: 45.947060 and range: 46.20 m.
2025-08-21T07:02:09.598Z,1755759729.598 [DAT](INFO): DAT read: 07:02:07.6848 LVL= 22736, 27969, 21938, 32755, AGC= 62, IDX= 411, 0.48,-2.002, 2.564,-1.827,-2.262, PHS= 0.361,-1.412, 0.391, RAW= 150.8,   7.4, CAL= 150.2,   7.9, ROT= 359.8,  -7.9

2025-08-21T07:02:09.599Z,1755759729.599 [DAT](INFO): got valid direction response:
 07:02:07.6848 LVL= 22736, 27969, 21938, 32755, AGC= 62, IDX= 411, 0.48,-2.002, 2.564,-1.827,-2.262, PHS= 0.361,-1.412, 0.391, RAW= 150.8,   7.4, CAL= 150.2,   7.9, ROT= 359.8,  -7.9

2025-08-21T07:02:09.600Z,1755759729.600 [DAT](INFO): DAT read: Bearing 274.1,  -1.6 (Local)

2025-08-21T07:02:09.601Z,1755759729.601 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.1,  -1.6 (Local)

2025-08-21T07:02:09.602Z,1755759729.602 [DAT](INFO): DAT read: Range 11 to 50 : 44.4 m  (Round-trip  59.2 ms) speed  0.4 m/s

2025-08-21T07:02:09.603Z,1755759729.603 [DAT](INFO): DAT read: user:2054>

2025-08-21T07:02:09.604Z,1755759729.604 [DAT](INFO): DAT read: Tx time:07:02:08.8214

2025-08-21T07:02:09.604Z,1755759729.604 [DAT](INFO): Ping request sent.
2025-08-21T07:02:09.605Z,1755759729.605 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:09.605Z,1755759729.605 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:09.606Z,1755759729.606 [DAT](INFO): direction in FSK: [0.990503,-0.003458,0.137445]
2025-08-21T07:02:09.606Z,1755759729.606 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:09.606Z,1755759729.606 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:09.610Z,1755759729.610 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:09.610Z,1755759729.610 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:09.906Z,1755759729.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.400002 m,
      deltaT: 3.528112 s,
      deltaX: -1.799999 m,
      approachRate: -0.510188 m/s,
      rangeRepo size: 4

2025-08-21T07:02:09.908Z,1755759729.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.157166 m,
      bearing: 100.413462 deg,
      lat: 36.779365 deg,
      lon: -121.859410 deg,
      deltaT: 3.528112 s,
      deltaX: -1.789894 m,
      approachRate: -0.507324 m/s,
      posRepo size: 4

2025-08-21T07:02:09.909Z,1755759729.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.16 m.
2025-08-21T07:02:09.912Z,1755759729.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.157166 m,
      nav range: 43.857704 m,
      bearing: 100.214733 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.071769 deg/s,
      cmd heading: 97.780715 deg,
      new cmd heading: 97.699851 deg.

2025-08-21T07:02:09.913Z,1755759729.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.705184 target range: 44.157166 and range: 44.40 m.
2025-08-21T07:02:10.345Z,1755759730.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.16 m.
2025-08-21T07:02:10.352Z,1755759730.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.157166 m,
      nav range: 43.648891 m,
      bearing: 100.184922 deg,
      approach rate: -0.475134 m/s,
      LOS rate: -0.068157 deg/s,
      cmd heading: 97.699852 deg,
      new cmd heading: 97.609991 deg.

2025-08-21T07:02:10.353Z,1755759730.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.703616 target range: 44.157166 and range: 44.40 m.
2025-08-21T07:02:10.707Z,1755759730.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.16 m.
2025-08-21T07:02:10.710Z,1755759730.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.157166 m,
      nav range: 43.454262 m,
      bearing: 100.155380 deg,
      approach rate: -0.537507 m/s,
      LOS rate: -0.081952 deg/s,
      cmd heading: 97.609994 deg,
      new cmd heading: 97.520970 deg.

2025-08-21T07:02:10.711Z,1755759730.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.702062 target range: 44.157166 and range: 44.40 m.
2025-08-21T07:02:11.092Z,1755759731.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:11.094Z,1755759731.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.16 m.
2025-08-21T07:02:11.097Z,1755759731.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.157166 m,
      nav range: 43.261562 m,
      bearing: 100.126067 deg,
      approach rate: -0.497175 m/s,
      LOS rate: -0.075965 deg/s,
      cmd heading: 97.520970 deg,
      new cmd heading: 97.432640 deg.

2025-08-21T07:02:11.098Z,1755759731.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.700520 target range: 44.157166 and range: 44.40 m.
2025-08-21T07:02:11.104Z,1755759731.104 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:11.104Z,1755759731.104 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:11.104Z,1755759731.104 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:11.359Z,1755759731.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754039
2025-08-21T07:02:11.559Z,1755759731.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.16 m.
2025-08-21T07:02:11.566Z,1755759731.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.157166 m,
      nav range: 43.033955 m,
      bearing: 100.096454 deg,
      approach rate: -0.490217 m/s,
      LOS rate: -0.064117 deg/s,
      cmd heading: 97.432642 deg,
      new cmd heading: 97.343333 deg.

2025-08-21T07:02:11.567Z,1755759731.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.698962 target range: 44.157166 and range: 44.40 m.
2025-08-21T07:02:11.608Z,1755759731.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003770
2025-08-21T07:02:11.860Z,1755759731.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255756
2025-08-21T07:02:11.918Z,1755759731.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.16 m.
2025-08-21T07:02:11.922Z,1755759731.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.157166 m,
      nav range: 42.862415 m,
      bearing: 100.074186 deg,
      approach rate: -0.477341 m/s,
      LOS rate: -0.062213 deg/s,
      cmd heading: 97.343330 deg,
      new cmd heading: 97.276259 deg.

2025-08-21T07:02:11.923Z,1755759731.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.697791 target range: 44.157166 and range: 44.40 m.
2025-08-21T07:02:12.112Z,1755759732.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507704
2025-08-21T07:02:12.350Z,1755759732.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.16 m.
2025-08-21T07:02:12.364Z,1755759732.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759771
2025-08-21T07:02:12.366Z,1755759732.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.157166 m,
      nav range: 42.660267 m,
      bearing: 100.047974 deg,
      approach rate: -0.469346 m/s,
      LOS rate: -0.061148 deg/s,
      cmd heading: 97.276258 deg,
      new cmd heading: 97.197248 deg.

2025-08-21T07:02:12.371Z,1755759732.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.696412 target range: 44.157166 and range: 44.40 m.
2025-08-21T07:02:12.616Z,1755759732.616 [DAT](INFO): DAT read: Rx Time:07:02:11.2826

2025-08-21T07:02:12.617Z,1755759732.617 [DAT](INFO): Rx dataTimestamp_ set to:1755759732.616406
2025-08-21T07:02:12.617Z,1755759732.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012701
2025-08-21T07:02:12.730Z,1755759732.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.16 m.
2025-08-21T07:02:12.733Z,1755759732.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.157166 m,
      nav range: 42.441101 m,
      bearing: 100.023698 deg,
      approach rate: -0.575252 m/s,
      LOS rate: -0.064047 deg/s,
      cmd heading: 97.197246 deg,
      new cmd heading: 97.124043 deg.

2025-08-21T07:02:12.734Z,1755759732.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.695134 target range: 44.157166 and range: 44.40 m.
2025-08-21T07:02:12.868Z,1755759732.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263705
2025-08-21T07:02:13.108Z,1755759733.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:13.110Z,1755759733.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.16 m.
2025-08-21T07:02:13.113Z,1755759733.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.157166 m,
      nav range: 42.246986 m,
      bearing: 100.002422 deg,
      approach rate: -0.510121 m/s,
      LOS rate: -0.056169 deg/s,
      cmd heading: 97.124040 deg,
      new cmd heading: 97.059918 deg.

2025-08-21T07:02:13.114Z,1755759733.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.694015 target range: 44.157166 and range: 44.40 m.
2025-08-21T07:02:13.134Z,1755759733.134 [DAT](INFO): DAT read: 07:02:11.2826 LVL= 23120, 28785, 24754, 32723, AGC= 63, IDX= 420,-0.40, 2.218, 0.432, 2.356, 1.934, PHS= 0.385,-1.457, 0.377, RAW= 149.8,   7.6, CAL= 149.3,   8.2, ROT=   0.7,  -8.2

2025-08-21T07:02:13.135Z,1755759733.135 [DAT](INFO): got valid direction response:
 07:02:11.2826 LVL= 23120, 28785, 24754, 32723, AGC= 63, IDX= 420,-0.40, 2.218, 0.432, 2.356, 1.934, PHS= 0.385,-1.457, 0.377, RAW= 149.8,   7.6, CAL= 149.3,   8.2, ROT=   0.7,  -8.2

2025-08-21T07:02:13.136Z,1755759733.136 [DAT](INFO): DAT read: Bearing 273.6,  -0.2 (Local)

2025-08-21T07:02:13.136Z,1755759733.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.6,  -0.2 (Local)

2025-08-21T07:02:13.138Z,1755759733.138 [DAT](INFO): DAT read: Range 11 to 50 : 42.7 m  (Round-trip  57.0 ms) speed  0.4 m/s

2025-08-21T07:02:13.139Z,1755759733.139 [DAT](INFO): DAT read: user:2055>

2025-08-21T07:02:13.141Z,1755759733.141 [DAT](INFO): DAT read: Tx time:07:02:12.3714

2025-08-21T07:02:13.141Z,1755759733.141 [DAT](INFO): Ping request sent.
2025-08-21T07:02:13.141Z,1755759733.141 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:13.142Z,1755759733.142 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:13.144Z,1755759733.144 [DAT](INFO): direction in FSK: [0.989702,0.012092,0.142629]
2025-08-21T07:02:13.144Z,1755759733.144 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:13.145Z,1755759733.145 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:13.149Z,1755759733.149 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:13.150Z,1755759733.150 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:13.556Z,1755759733.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.700001 m,
      deltaT: 3.535921 s,
      deltaX: -1.700001 m,
      approachRate: -0.480780 m/s,
      rangeRepo size: 4

2025-08-21T07:02:13.558Z,1755759733.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.466190 m,
      bearing: 100.636775 deg,
      lat: 36.779365 deg,
      lon: -121.859409 deg,
      deltaT: 3.535921 s,
      deltaX: -1.690975 m,
      approachRate: -0.478228 m/s,
      posRepo size: 4

2025-08-21T07:02:13.558Z,1755759733.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.47 m.
2025-08-21T07:02:13.562Z,1755759733.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.466190 m,
      nav range: 42.040710 m,
      bearing: 99.977360 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.056169 deg/s,
      cmd heading: 97.059918 deg,
      new cmd heading: 96.985062 deg.

2025-08-21T07:02:13.563Z,1755759733.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.692709 target range: 42.466190 and range: 42.70 m.
2025-08-21T07:02:13.937Z,1755759733.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.47 m.
2025-08-21T07:02:13.940Z,1755759733.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.466190 m,
      nav range: 41.845497 m,
      bearing: 99.959123 deg,
      approach rate: -0.511032 m/s,
      LOS rate: -0.047963 deg/s,
      cmd heading: 96.985059 deg,
      new cmd heading: 96.930094 deg.

2025-08-21T07:02:13.940Z,1755759733.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.691749 target range: 42.466190 and range: 42.70 m.
2025-08-21T07:02:14.339Z,1755759734.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.47 m.
2025-08-21T07:02:14.366Z,1755759734.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.466190 m,
      nav range: 41.647469 m,
      bearing: 99.940788 deg,
      approach rate: -0.494411 m/s,
      LOS rate: -0.045995 deg/s,
      cmd heading: 96.930097 deg,
      new cmd heading: 96.874829 deg.

2025-08-21T07:02:14.374Z,1755759734.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.690785 target range: 42.466190 and range: 42.70 m.
2025-08-21T07:02:14.740Z,1755759734.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.47 m.
2025-08-21T07:02:14.743Z,1755759734.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.466190 m,
      nav range: 41.442535 m,
      bearing: 99.919965 deg,
      approach rate: -0.508239 m/s,
      LOS rate: -0.051896 deg/s,
      cmd heading: 96.874827 deg,
      new cmd heading: 96.812050 deg.

2025-08-21T07:02:14.744Z,1755759734.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.689689 target range: 42.466190 and range: 42.70 m.
2025-08-21T07:02:15.122Z,1755759735.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:15.124Z,1755759735.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.47 m.
2025-08-21T07:02:15.127Z,1755759735.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.466190 m,
      nav range: 41.252014 m,
      bearing: 99.900759 deg,
      approach rate: -0.496144 m/s,
      LOS rate: -0.050247 deg/s,
      cmd heading: 96.812051 deg,
      new cmd heading: 96.754166 deg.

2025-08-21T07:02:15.128Z,1755759735.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.688679 target range: 42.466190 and range: 42.70 m.
2025-08-21T07:02:15.145Z,1755759735.145 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:15.145Z,1755759735.145 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:15.146Z,1755759735.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:15.399Z,1755759735.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257137
2025-08-21T07:02:15.575Z,1755759735.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.47 m.
2025-08-21T07:02:15.578Z,1755759735.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.466190 m,
      nav range: 41.030758 m,
      bearing: 99.878610 deg,
      approach rate: -0.490957 m/s,
      LOS rate: -0.049412 deg/s,
      cmd heading: 96.754165 deg,
      new cmd heading: 96.687360 deg.

2025-08-21T07:02:15.579Z,1755759735.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.687513 target range: 42.466190 and range: 42.70 m.
2025-08-21T07:02:15.649Z,1755759735.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507725
2025-08-21T07:02:15.900Z,1755759735.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758904
2025-08-21T07:02:15.942Z,1755759735.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.47 m.
2025-08-21T07:02:15.946Z,1755759735.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.466190 m,
      nav range: 40.858715 m,
      bearing: 99.862003 deg,
      approach rate: -0.468808 m/s,
      LOS rate: -0.045444 deg/s,
      cmd heading: 96.687359 deg,
      new cmd heading: 96.637327 deg.

2025-08-21T07:02:15.947Z,1755759735.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.686640 target range: 42.466190 and range: 42.70 m.
2025-08-21T07:02:16.153Z,1755759736.153 [DAT](INFO): DAT read: Rx Time:07:02:14.8302

2025-08-21T07:02:16.153Z,1755759736.153 [DAT](INFO): Rx dataTimestamp_ set to:1755759736.153108
2025-08-21T07:02:16.154Z,1755759736.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012852
2025-08-21T07:02:16.340Z,1755759736.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.47 m.
2025-08-21T07:02:16.346Z,1755759736.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.466190 m,
      nav range: 40.656258 m,
      bearing: 99.842706 deg,
      approach rate: -0.509851 m/s,
      LOS rate: -0.048838 deg/s,
      cmd heading: 96.637328 deg,
      new cmd heading: 96.579149 deg.

2025-08-21T07:02:16.347Z,1755759736.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.685624 target range: 42.466190 and range: 42.70 m.
2025-08-21T07:02:16.408Z,1755759736.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266173
2025-08-21T07:02:16.662Z,1755759736.662 [DAT](INFO): DAT read: 07:02:14.8302 LVL= 22768, 28401, 20834, 28067, AGC= 61, IDX= 412,-0.10,-0.958,-2.705,-0.854,-1.263, PHS= 0.407,-1.398, 0.365, RAW= 148.8,   7.1, CAL= 148.3,   7.6, ROT=   1.7,  -7.6

2025-08-21T07:02:16.664Z,1755759736.664 [DAT](INFO): got valid direction response:
 07:02:14.8302 LVL= 22768, 28401, 20834, 28067, AGC= 61, IDX= 412,-0.10,-0.958,-2.705,-0.854,-1.263, PHS= 0.407,-1.398, 0.365, RAW= 148.8,   7.1, CAL= 148.3,   7.6, ROT=   1.7,  -7.6

2025-08-21T07:02:16.664Z,1755759736.664 [DAT](INFO): DAT read: Bearing 272.4,   0.9 (Local)

2025-08-21T07:02:16.665Z,1755759736.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.4,   0.9 (Local)

2025-08-21T07:02:16.666Z,1755759736.666 [DAT](INFO): DAT read: Range 11 to 50 : 40.9 m  (Round-trip  54.6 ms) speed  0.4 m/s

2025-08-21T07:02:16.667Z,1755759736.667 [DAT](INFO): DAT read: user:2056>

2025-08-21T07:02:16.668Z,1755759736.668 [DAT](INFO): DAT read: Tx time:07:02:15.9214

2025-08-21T07:02:16.668Z,1755759736.668 [DAT](INFO): Ping request sent.
2025-08-21T07:02:16.668Z,1755759736.668 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:16.668Z,1755759736.668 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:16.669Z,1755759736.669 [DAT](INFO): direction in FSK: [0.990779,0.029406,0.132256]
2025-08-21T07:02:16.670Z,1755759736.670 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:16.670Z,1755759736.670 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:16.681Z,1755759736.681 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:16.681Z,1755759736.681 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:16.837Z,1755759736.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.900002 m,
      deltaT: 3.528305 s,
      deltaX: -1.799999 m,
      approachRate: -0.510160 m/s,
      rangeRepo size: 4

2025-08-21T07:02:16.846Z,1755759736.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.676182 m,
      bearing: 101.001543 deg,
      lat: 36.779363 deg,
      lon: -121.859409 deg,
      deltaT: 3.528305 s,
      deltaX: -1.790009 m,
      approachRate: -0.507328 m/s,
      posRepo size: 4

2025-08-21T07:02:16.846Z,1755759736.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m.
2025-08-21T07:02:16.853Z,1755759736.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.676182 m,
      nav range: 40.453220 m,
      bearing: 100.040581 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.048838 deg/s,
      cmd heading: 96.579148 deg,
      new cmd heading: 96.506222 deg.

2025-08-21T07:02:16.854Z,1755759736.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.684351 target range: 40.676182 and range: 40.90 m.
2025-08-21T07:02:17.195Z,1755759737.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:17.197Z,1755759737.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m.
2025-08-21T07:02:17.201Z,1755759737.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.676182 m,
      nav range: 40.273438 m,
      bearing: 100.024399 deg,
      approach rate: -0.499023 m/s,
      LOS rate: -0.045116 deg/s,
      cmd heading: 96.506222 deg,
      new cmd heading: 96.457460 deg.

2025-08-21T07:02:17.202Z,1755759737.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.683500 target range: 40.676182 and range: 40.90 m.
2025-08-21T07:02:17.415Z,1755759737.415 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:17.415Z,1755759737.415 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:17.416Z,1755759737.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:17.602Z,1755759737.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m.
2025-08-21T07:02:17.621Z,1755759737.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.676182 m,
      nav range: 40.079926 m,
      bearing: 100.003144 deg,
      approach rate: -0.477768 m/s,
      LOS rate: -0.052730 deg/s,
      cmd heading: 96.457461 deg,
      new cmd heading: 96.393389 deg.

2025-08-21T07:02:17.622Z,1755759737.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.682382 target range: 40.676182 and range: 40.90 m.
2025-08-21T07:02:17.664Z,1755759737.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996281
2025-08-21T07:02:17.916Z,1755759737.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248013
2025-08-21T07:02:18.001Z,1755759738.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m.
2025-08-21T07:02:18.006Z,1755759738.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.676182 m,
      nav range: 39.894485 m,
      bearing: 99.983037 deg,
      approach rate: -0.465169 m/s,
      LOS rate: -0.050671 deg/s,
      cmd heading: 96.393387 deg,
      new cmd heading: 96.332787 deg.

2025-08-21T07:02:18.008Z,1755759738.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681324 target range: 40.676182 and range: 40.90 m.
2025-08-21T07:02:18.169Z,1755759738.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500758
2025-08-21T07:02:18.423Z,1755759738.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754678
2025-08-21T07:02:18.530Z,1755759738.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m.
2025-08-21T07:02:18.532Z,1755759738.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.676182 m,
      nav range: 39.627789 m,
      bearing: 99.958521 deg,
      approach rate: -0.504353 m/s,
      LOS rate: -0.046675 deg/s,
      cmd heading: 96.332790 deg,
      new cmd heading: 96.258746 deg.

2025-08-21T07:02:18.533Z,1755759738.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.680032 target range: 40.676182 and range: 40.90 m.
2025-08-21T07:02:18.672Z,1755759738.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004269
2025-08-21T07:02:18.868Z,1755759738.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m.
2025-08-21T07:02:18.871Z,1755759738.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.676182 m,
      nav range: 39.461075 m,
      bearing: 99.943027 deg,
      approach rate: -0.494201 m/s,
      LOS rate: -0.046125 deg/s,
      cmd heading: 96.258744 deg,
      new cmd heading: 96.212065 deg.

2025-08-21T07:02:18.872Z,1755759738.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.679217 target range: 40.676182 and range: 40.90 m.
2025-08-21T07:02:18.925Z,1755759738.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256527
2025-08-21T07:02:19.177Z,1755759739.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508761
2025-08-21T07:02:19.271Z,1755759739.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:19.273Z,1755759739.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m.
2025-08-21T07:02:19.276Z,1755759739.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.676182 m,
      nav range: 39.265339 m,
      bearing: 99.925666 deg,
      approach rate: -0.481563 m/s,
      LOS rate: -0.042924 deg/s,
      cmd heading: 96.212066 deg,
      new cmd heading: 96.159726 deg.

2025-08-21T07:02:19.277Z,1755759739.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.678304 target range: 40.676182 and range: 40.90 m.
2025-08-21T07:02:19.431Z,1755759739.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762420
2025-08-21T07:02:19.680Z,1755759739.680 [DAT](INFO): DAT read: Rx Time:07:02:18.3779

2025-08-21T07:02:19.681Z,1755759739.681 [DAT](INFO): Rx dataTimestamp_ set to:1755759739.680570
2025-08-21T07:02:19.681Z,1755759739.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013251
2025-08-21T07:02:19.716Z,1755759739.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m.
2025-08-21T07:02:19.718Z,1755759739.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.676182 m,
      nav range: 39.042400 m,
      bearing: 99.904687 deg,
      approach rate: -0.504292 m/s,
      LOS rate: -0.047726 deg/s,
      cmd heading: 96.159727 deg,
      new cmd heading: 96.096430 deg.

2025-08-21T07:02:19.720Z,1755759739.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677199 target range: 40.676182 and range: 40.90 m.
2025-08-21T07:02:19.932Z,1755759739.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264175
2025-08-21T07:02:20.134Z,1755759740.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m.
2025-08-21T07:02:20.137Z,1755759740.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.676182 m,
      nav range: 38.840088 m,
      bearing: 99.885890 deg,
      approach rate: -0.483267 m/s,
      LOS rate: -0.045136 deg/s,
      cmd heading: 96.096431 deg,
      new cmd heading: 96.039744 deg.

2025-08-21T07:02:20.138Z,1755759740.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.676210 target range: 40.676182 and range: 40.90 m.
2025-08-21T07:02:20.192Z,1755759740.192 [DAT](INFO): DAT read: 07:02:18.3779 LVL= 23536, 27361, 27090, 32755, AGC= 62, IDX= 420,-0.11, 1.034,-0.719, 1.087, 0.740, PHS= 0.396,-1.413, 0.303, RAW= 147.4,   8.1, CAL= 146.9,   8.8, ROT=   3.1,  -8.8

2025-08-21T07:02:20.194Z,1755759740.194 [DAT](INFO): got valid direction response:
 07:02:18.3779 LVL= 23536, 27361, 27090, 32755, AGC= 62, IDX= 420,-0.11, 1.034,-0.719, 1.087, 0.740, PHS= 0.396,-1.413, 0.303, RAW= 147.4,   8.1, CAL= 146.9,   8.8, ROT=   3.1,  -8.8

2025-08-21T07:02:20.194Z,1755759740.194 [DAT](INFO): DAT read: Bearing 273.0,   2.3 (Local)

2025-08-21T07:02:20.195Z,1755759740.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.0,   2.3 (Local)

2025-08-21T07:02:20.198Z,1755759740.198 [DAT](INFO): DAT read: Range 11 to 50 : 39.2 m  (Round-trip  52.3 ms) speed  0.4 m/s

2025-08-21T07:02:20.199Z,1755759740.199 [DAT](INFO): DAT read: user:2057>

2025-08-21T07:02:20.201Z,1755759740.201 [DAT](INFO): DAT read: Tx time:07:02:19.4714

2025-08-21T07:02:20.201Z,1755759740.201 [DAT](INFO): Ping request sent.
2025-08-21T07:02:20.201Z,1755759740.201 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:20.202Z,1755759740.202 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:20.207Z,1755759740.207 [DAT](INFO): direction in FSK: [0.986782,0.053442,0.152986]
2025-08-21T07:02:20.208Z,1755759740.208 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:20.208Z,1755759740.208 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:20.244Z,1755759740.244 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:20.245Z,1755759740.245 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:20.597Z,1755759740.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 39.200001 m,
      deltaT: 3.529932 s,
      deltaX: -1.700001 m,
      approachRate: -0.481596 m/s,
      rangeRepo size: 4

2025-08-21T07:02:20.600Z,1755759740.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.985008 m,
      bearing: 101.558573 deg,
      lat: 36.779360 deg,
      lon: -121.859409 deg,
      deltaT: 3.529932 s,
      deltaX: -1.691174 m,
      approachRate: -0.479095 m/s,
      posRepo size: 4

2025-08-21T07:02:20.601Z,1755759740.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m.
2025-08-21T07:02:20.604Z,1755759740.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.985008 m,
      nav range: 38.669334 m,
      bearing: 100.360861 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.045136 deg/s,
      cmd heading: 96.039748 deg,
      new cmd heading: 95.977118 deg.

2025-08-21T07:02:20.605Z,1755759740.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.675117 target range: 38.985008 and range: 39.20 m.
2025-08-21T07:02:20.925Z,1755759740.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m.
2025-08-21T07:02:20.928Z,1755759740.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.985008 m,
      nav range: 38.501953 m,
      bearing: 100.346779 deg,
      approach rate: -0.509128 m/s,
      LOS rate: -0.043019 deg/s,
      cmd heading: 95.977115 deg,
      new cmd heading: 95.934686 deg.

2025-08-21T07:02:20.929Z,1755759740.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.674376 target range: 38.985008 and range: 39.20 m.
2025-08-21T07:02:21.322Z,1755759741.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:21.324Z,1755759741.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m.
2025-08-21T07:02:21.327Z,1755759741.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.985008 m,
      nav range: 38.303448 m,
      bearing: 100.330143 deg,
      approach rate: -0.497576 m/s,
      LOS rate: -0.041917 deg/s,
      cmd heading: 95.934686 deg,
      new cmd heading: 95.884518 deg.

2025-08-21T07:02:21.328Z,1755759741.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673501 target range: 38.985008 and range: 39.20 m.
2025-08-21T07:02:21.444Z,1755759741.444 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:21.445Z,1755759741.445 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:21.446Z,1755759741.446 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:21.696Z,1755759741.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494926
2025-08-21T07:02:21.771Z,1755759741.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m.
2025-08-21T07:02:21.774Z,1755759741.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.985008 m,
      nav range: 38.094059 m,
      bearing: 100.311395 deg,
      approach rate: -0.473027 m/s,
      LOS rate: -0.042586 deg/s,
      cmd heading: 95.884518 deg,
      new cmd heading: 95.827965 deg.

2025-08-21T07:02:21.775Z,1755759741.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672513 target range: 38.985008 and range: 39.20 m.
2025-08-21T07:02:21.948Z,1755759741.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747094
2025-08-21T07:02:22.165Z,1755759742.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m.
2025-08-21T07:02:22.174Z,1755759742.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.985008 m,
      nav range: 37.901684 m,
      bearing: 100.294391 deg,
      approach rate: -0.483549 m/s,
      LOS rate: -0.042960 deg/s,
      cmd heading: 95.827964 deg,
      new cmd heading: 95.776691 deg.

2025-08-21T07:02:22.175Z,1755759742.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671619 target range: 38.985008 and range: 39.20 m.
2025-08-21T07:02:22.200Z,1755759742.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999213
2025-08-21T07:02:22.456Z,1755759742.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254366
2025-08-21T07:02:22.570Z,1755759742.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m.
2025-08-21T07:02:22.573Z,1755759742.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.985008 m,
      nav range: 37.683144 m,
      bearing: 100.278948 deg,
      approach rate: -0.539472 m/s,
      LOS rate: -0.038341 deg/s,
      cmd heading: 95.776690 deg,
      new cmd heading: 95.730094 deg.

2025-08-21T07:02:22.574Z,1755759742.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670805 target range: 38.985008 and range: 39.20 m.
2025-08-21T07:02:22.704Z,1755759742.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503025
2025-08-21T07:02:22.951Z,1755759742.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m.
2025-08-21T07:02:22.954Z,1755759742.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.985008 m,
      nav range: 37.491512 m,
      bearing: 100.265636 deg,
      approach rate: -0.503161 m/s,
      LOS rate: -0.035131 deg/s,
      cmd heading: 95.730094 deg,
      new cmd heading: 95.689954 deg.

2025-08-21T07:02:22.955Z,1755759742.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670105 target range: 38.985008 and range: 39.20 m.
2025-08-21T07:02:22.956Z,1755759742.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755074
2025-08-21T07:02:23.208Z,1755759743.208 [DAT](INFO): DAT read: Rx Time:07:02:21.9255

2025-08-21T07:02:23.209Z,1755759743.209 [DAT](INFO): Rx dataTimestamp_ set to:1755759743.208466
2025-08-21T07:02:23.209Z,1755759743.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008071
2025-08-21T07:02:23.342Z,1755759743.342 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:23.345Z,1755759743.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.99 m.
2025-08-21T07:02:23.348Z,1755759743.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.985008 m,
      nav range: 37.293755 m,
      bearing: 100.252015 deg,
      approach rate: -0.501656 m/s,
      LOS rate: -0.034737 deg/s,
      cmd heading: 95.689953 deg,
      new cmd heading: 95.648872 deg.

2025-08-21T07:02:23.349Z,1755759743.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669388 target range: 38.985008 and range: 39.20 m.
2025-08-21T07:02:23.464Z,1755759743.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261690
2025-08-21T07:02:23.725Z,1755759743.725 [DAT](INFO): DAT read: 07:02:21.9255 LVL= 20688, 30113, 23634, 32755, AGC= 61, IDX= 412, 0.06, 1.412,-0.395, 1.468, 1.098, PHS= 0.416,-1.447, 0.327, RAW= 147.6,   7.8, CAL= 147.1,   8.4, ROT=   2.9,  -8.4

2025-08-21T07:02:23.726Z,1755759743.726 [DAT](INFO): got valid direction response:
 07:02:21.9255 LVL= 20688, 30113, 23634, 32755, AGC= 61, IDX= 412, 0.06, 1.412,-0.395, 1.468, 1.098, PHS= 0.416,-1.447, 0.327, RAW= 147.6,   7.8, CAL= 147.1,   8.4, ROT=   2.9,  -8.4

2025-08-21T07:02:23.727Z,1755759743.727 [DAT](INFO): DAT read: Bearing 272.0,   2.3 (Local)

2025-08-21T07:02:23.727Z,1755759743.727 [DAT](INFO): Local bearing/azimuth received:
 Bearing 272.0,   2.3 (Local)

2025-08-21T07:02:23.737Z,1755759743.737 [DAT](INFO): DAT read: Range 11 to 50 : 37.5 m  (Round-trip  50.0 ms) speed  0.4 m/s

2025-08-21T07:02:23.737Z,1755759743.737 [DAT](INFO): DAT read: user:2058>

2025-08-21T07:02:23.738Z,1755759743.738 [DAT](INFO): DAT read: Tx time:07:02:23.0214

2025-08-21T07:02:23.738Z,1755759743.738 [DAT](INFO): Ping request sent.
2025-08-21T07:02:23.738Z,1755759743.738 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:23.739Z,1755759743.739 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:23.740Z,1755759743.740 [DAT](INFO): direction in FSK: [0.988005,0.050050,0.146083]
2025-08-21T07:02:23.740Z,1755759743.740 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:23.740Z,1755759743.740 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:23.776Z,1755759743.776 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:23.776Z,1755759743.776 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:23.863Z,1755759743.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 37.500000 m,
      deltaT: 3.525668 s,
      deltaX: -1.700001 m,
      approachRate: -0.482178 m/s,
      rangeRepo size: 4

2025-08-21T07:02:23.869Z,1755759743.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 37.294483 m,
      bearing: 100.811904 deg,
      lat: 36.779358 deg,
      lon: -121.859411 deg,
      deltaT: 3.525668 s,
      deltaX: -1.690525 m,
      approachRate: -0.479491 m/s,
      posRepo size: 4

2025-08-21T07:02:23.870Z,1755759743.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.29 m.
2025-08-21T07:02:23.881Z,1755759743.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.294483 m,
      nav range: 36.969711 m,
      bearing: 100.762059 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.034737 deg/s,
      cmd heading: 95.648869 deg,
      new cmd heading: 95.594969 deg.

2025-08-21T07:02:23.882Z,1755759743.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668447 target range: 37.294483 and range: 37.50 m.
2025-08-21T07:02:24.243Z,1755759744.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.29 m.
2025-08-21T07:02:24.246Z,1755759744.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.294483 m,
      nav range: 36.777035 m,
      bearing: 100.753107 deg,
      approach rate: -0.506269 m/s,
      LOS rate: -0.023645 deg/s,
      cmd heading: 95.594966 deg,
      new cmd heading: 95.567969 deg.

2025-08-21T07:02:24.247Z,1755759744.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667976 target range: 37.294483 and range: 37.50 m.
2025-08-21T07:02:24.673Z,1755759744.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.29 m.
2025-08-21T07:02:24.675Z,1755759744.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.294483 m,
      nav range: 36.570038 m,
      bearing: 100.744249 deg,
      approach rate: -0.481636 m/s,
      LOS rate: -0.020726 deg/s,
      cmd heading: 95.567966 deg,
      new cmd heading: 95.541243 deg.

2025-08-21T07:02:24.676Z,1755759744.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667509 target range: 37.294483 and range: 37.50 m.
2025-08-21T07:02:25.048Z,1755759745.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.29 m.
2025-08-21T07:02:25.051Z,1755759745.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.294483 m,
      nav range: 36.389717 m,
      bearing: 100.736885 deg,
      approach rate: -0.480113 m/s,
      LOS rate: -0.019705 deg/s,
      cmd heading: 95.541246 deg,
      new cmd heading: 95.519044 deg.

2025-08-21T07:02:25.052Z,1755759745.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667122 target range: 37.294483 and range: 37.50 m.
2025-08-21T07:02:25.450Z,1755759745.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:25.452Z,1755759745.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.29 m.
2025-08-21T07:02:25.455Z,1755759745.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.294483 m,
      nav range: 36.195435 m,
      bearing: 100.729271 deg,
      approach rate: -0.480807 m/s,
      LOS rate: -0.018944 deg/s,
      cmd heading: 95.519041 deg,
      new cmd heading: 95.496077 deg.

2025-08-21T07:02:25.456Z,1755759745.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666721 target range: 37.294483 and range: 37.50 m.
2025-08-21T07:02:25.477Z,1755759745.477 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:25.477Z,1755759745.477 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:25.478Z,1755759745.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:25.730Z,1755759745.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990946
2025-08-21T07:02:25.896Z,1755759745.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.29 m.
2025-08-21T07:02:25.898Z,1755759745.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.294483 m,
      nav range: 35.992390 m,
      bearing: 100.722611 deg,
      approach rate: -0.462347 m/s,
      LOS rate: -0.015252 deg/s,
      cmd heading: 95.496078 deg,
      new cmd heading: 95.475984 deg.

2025-08-21T07:02:25.900Z,1755759745.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666370 target range: 37.294483 and range: 37.50 m.
2025-08-21T07:02:25.981Z,1755759745.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242336
2025-08-21T07:02:26.232Z,1755759746.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493856
2025-08-21T07:02:26.259Z,1755759746.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.29 m.
2025-08-21T07:02:26.262Z,1755759746.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.294483 m,
      nav range: 35.805828 m,
      bearing: 100.717066 deg,
      approach rate: -0.507924 m/s,
      LOS rate: -0.015176 deg/s,
      cmd heading: 95.475984 deg,
      new cmd heading: 95.459261 deg.

2025-08-21T07:02:26.263Z,1755759746.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666078 target range: 37.294483 and range: 37.50 m.
2025-08-21T07:02:26.486Z,1755759746.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747042
2025-08-21T07:02:26.691Z,1755759746.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.29 m.
2025-08-21T07:02:26.694Z,1755759746.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.294483 m,
      nav range: 35.599895 m,
      bearing: 100.713863 deg,
      approach rate: -0.476212 m/s,
      LOS rate: -0.007449 deg/s,
      cmd heading: 95.459263 deg,
      new cmd heading: 95.449599 deg.

2025-08-21T07:02:26.695Z,1755759746.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665910 target range: 37.294483 and range: 37.50 m.
2025-08-21T07:02:26.738Z,1755759746.738 [DAT](INFO): DAT read: Rx Time:07:02:25.4731

2025-08-21T07:02:26.738Z,1755759746.738 [DAT](INFO): Rx dataTimestamp_ set to:1755759746.737954
2025-08-21T07:02:26.739Z,1755759746.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000352
2025-08-21T07:02:26.989Z,1755759746.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250440
2025-08-21T07:02:27.073Z,1755759747.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 37.29 m.
2025-08-21T07:02:27.076Z,1755759747.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 37.294483 m,
      nav range: 35.418587 m,
      bearing: 100.711614 deg,
      approach rate: -0.475104 m/s,
      LOS rate: -0.005923 deg/s,
      cmd heading: 95.449599 deg,
      new cmd heading: 95.442817 deg.

2025-08-21T07:02:27.077Z,1755759747.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665791 target range: 37.294483 and range: 37.50 m.
2025-08-21T07:02:27.246Z,1755759747.246 [DAT](INFO): DAT read: 07:02:25.4731 LVL= 25136, 32753, 23506, 31283, AGC= 59, IDX= 420, 0.41,-2.782, 1.795,-2.758,-3.113, PHS= 0.433,-1.330, 0.311, RAW= 146.5,   6.9, CAL= 146.0,   7.5, ROT=   4.0,  -7.5

2025-08-21T07:02:27.247Z,1755759747.247 [DAT](INFO): got valid direction response:
 07:02:25.4731 LVL= 25136, 32753, 23506, 31283, AGC= 59, IDX= 420, 0.41,-2.782, 1.795,-2.758,-3.113, PHS= 0.433,-1.330, 0.311, RAW= 146.5,   6.9, CAL= 146.0,   7.5, ROT=   4.0,  -7.5

2025-08-21T07:02:27.248Z,1755759747.248 [DAT](INFO): DAT read: Bearing 270.3,   3.5 (Local)

2025-08-21T07:02:27.249Z,1755759747.249 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.3,   3.5 (Local)

2025-08-21T07:02:27.254Z,1755759747.254 [DAT](INFO): DAT read: Range 11 to 50 : 35.7 m  (Round-trip  47.6 ms) speed  0.4 m/s

2025-08-21T07:02:27.256Z,1755759747.256 [DAT](INFO): DAT read: user:2059>

2025-08-21T07:02:27.257Z,1755759747.257 [DAT](INFO): DAT read: Tx time:07:02:26.5713

2025-08-21T07:02:27.257Z,1755759747.257 [DAT](INFO): Ping request sent.
2025-08-21T07:02:27.257Z,1755759747.257 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:27.257Z,1755759747.257 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:27.258Z,1755759747.258 [DAT](INFO): direction in FSK: [0.989030,0.069160,0.130526]
2025-08-21T07:02:27.259Z,1755759747.259 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:27.259Z,1755759747.259 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:27.267Z,1755759747.267 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:27.267Z,1755759747.267 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:27.502Z,1755759747.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.700001 m,
      deltaT: 3.528075 s,
      deltaX: -1.799999 m,
      approachRate: -0.510193 m/s,
      rangeRepo size: 4

2025-08-21T07:02:27.504Z,1755759747.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.504570 m,
      bearing: 101.078656 deg,
      lat: 36.779357 deg,
      lon: -121.859411 deg,
      deltaT: 3.528075 s,
      deltaX: -1.789913 m,
      approachRate: -0.507334 m/s,
      posRepo size: 4

2025-08-21T07:02:27.505Z,1755759747.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T07:02:27.508Z,1755759747.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.504570 m,
      nav range: 35.222183 m,
      bearing: 100.762238 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005923 deg/s,
      cmd heading: 95.442816 deg,
      new cmd heading: 95.435203 deg.

2025-08-21T07:02:27.509Z,1755759747.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665658 target range: 35.504570 and range: 35.70 m.
2025-08-21T07:02:27.890Z,1755759747.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:27.908Z,1755759747.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T07:02:27.910Z,1755759747.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.504570 m,
      nav range: 35.030968 m,
      bearing: 100.760116 deg,
      approach rate: -0.470284 m/s,
      LOS rate: -0.005246 deg/s,
      cmd heading: 95.435201 deg,
      new cmd heading: 95.428802 deg.

2025-08-21T07:02:27.916Z,1755759747.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665547 target range: 35.504570 and range: 35.70 m.
2025-08-21T07:02:27.998Z,1755759747.998 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:27.998Z,1755759747.998 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:27.998Z,1755759747.998 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:28.248Z,1755759748.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991168
2025-08-21T07:02:28.293Z,1755759748.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T07:02:28.296Z,1755759748.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.504570 m,
      nav range: 34.836407 m,
      bearing: 100.758435 deg,
      approach rate: -0.504907 m/s,
      LOS rate: -0.004388 deg/s,
      cmd heading: 95.428801 deg,
      new cmd heading: 95.423728 deg.

2025-08-21T07:02:28.297Z,1755759748.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665458 target range: 35.504570 and range: 35.70 m.
2025-08-21T07:02:28.500Z,1755759748.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243079
2025-08-21T07:02:28.752Z,1755759748.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495037
2025-08-21T07:02:28.766Z,1755759748.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T07:02:28.769Z,1755759748.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.504570 m,
      nav range: 34.599751 m,
      bearing: 100.758103 deg,
      approach rate: -0.500654 m/s,
      LOS rate: -0.000706 deg/s,
      cmd heading: 95.423726 deg,
      new cmd heading: 95.422725 deg.

2025-08-21T07:02:28.770Z,1755759748.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665441 target range: 35.504570 and range: 35.70 m.
2025-08-21T07:02:29.004Z,1755759749.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747111
2025-08-21T07:02:29.093Z,1755759749.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T07:02:29.096Z,1755759749.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.504570 m,
      nav range: 34.435703 m,
      bearing: 100.758467 deg,
      approach rate: -0.502020 m/s,
      LOS rate: 0.001119 deg/s,
      cmd heading: 95.422722 deg,
      new cmd heading: 95.423819 deg.

2025-08-21T07:02:29.097Z,1755759749.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665460 target range: 35.504570 and range: 35.70 m.
2025-08-21T07:02:29.258Z,1755759749.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000780
2025-08-21T07:02:29.500Z,1755759749.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T07:02:29.502Z,1755759749.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.504570 m,
      nav range: 34.232056 m,
      bearing: 100.759382 deg,
      approach rate: -0.500539 m/s,
      LOS rate: 0.002261 deg/s,
      cmd heading: 95.423822 deg,
      new cmd heading: 95.426581 deg.

2025-08-21T07:02:29.504Z,1755759749.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665508 target range: 35.504570 and range: 35.70 m.
2025-08-21T07:02:29.508Z,1755759749.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251301
2025-08-21T07:02:29.760Z,1755759749.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503122
2025-08-21T07:02:29.910Z,1755759749.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:29.913Z,1755759749.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T07:02:29.915Z,1755759749.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.504570 m,
      nav range: 34.024117 m,
      bearing: 100.753832 deg,
      approach rate: -0.503410 m/s,
      LOS rate: -0.013517 deg/s,
      cmd heading: 95.426581 deg,
      new cmd heading: 95.409831 deg.

2025-08-21T07:02:29.916Z,1755759749.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665216 target range: 35.504570 and range: 35.70 m.
2025-08-21T07:02:30.012Z,1755759750.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755301
2025-08-21T07:02:30.264Z,1755759750.264 [DAT](INFO): DAT read: Rx Time:07:02:29.0208

2025-08-21T07:02:30.265Z,1755759750.265 [DAT](INFO): Rx dataTimestamp_ set to:1755759750.264539
2025-08-21T07:02:30.265Z,1755759750.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008277
2025-08-21T07:02:30.311Z,1755759750.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.50 m.
2025-08-21T07:02:30.318Z,1755759750.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.504570 m,
      nav range: 33.830578 m,
      bearing: 100.748951 deg,
      approach rate: -0.486045 m/s,
      LOS rate: -0.012330 deg/s,
      cmd heading: 95.409833 deg,
      new cmd heading: 95.395104 deg.

2025-08-21T07:02:30.318Z,1755759750.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664959 target range: 35.504570 and range: 35.70 m.
2025-08-21T07:02:30.516Z,1755759750.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259043
2025-08-21T07:02:30.774Z,1755759750.774 [DAT](INFO): DAT read: 07:02:29.0208 LVL= 24464, 32193, 28754, 32755, AGC= 59, IDX= 412, 0.27, 0.718,-1.044, 0.687, 0.385, PHS= 0.435,-1.383, 0.259, RAW= 144.9,   8.0, CAL= 144.5,   8.7, ROT=   5.5,  -8.7

2025-08-21T07:02:30.776Z,1755759750.776 [DAT](INFO): got valid direction response:
 07:02:29.0208 LVL= 24464, 32193, 28754, 32755, AGC= 59, IDX= 412, 0.27, 0.718,-1.044, 0.687, 0.385, PHS= 0.435,-1.383, 0.259, RAW= 144.9,   8.0, CAL= 144.5,   8.7, ROT=   5.5,  -8.7

2025-08-21T07:02:30.776Z,1755759750.776 [DAT](INFO): DAT read: Bearing 270.6,   5.1 (Local)

2025-08-21T07:02:30.777Z,1755759750.777 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.6,   5.1 (Local)

2025-08-21T07:02:30.778Z,1755759750.778 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m  (Round-trip  45.3 ms) speed  0.4 m/s

2025-08-21T07:02:30.779Z,1755759750.779 [DAT](INFO): DAT read: user:2060>

2025-08-21T07:02:30.780Z,1755759750.780 [DAT](INFO): DAT read: Tx time:07:02:30.1213

2025-08-21T07:02:30.780Z,1755759750.780 [DAT](INFO): Ping request sent.
2025-08-21T07:02:30.780Z,1755759750.780 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:30.780Z,1755759750.780 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:30.781Z,1755759750.781 [DAT](INFO): direction in FSK: [0.983943,0.094743,0.151261]
2025-08-21T07:02:30.782Z,1755759750.782 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:30.782Z,1755759750.782 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:30.789Z,1755759750.789 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:30.789Z,1755759750.789 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:30.849Z,1755759750.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.900002 m,
      deltaT: 3.528282 s,
      deltaX: -1.799999 m,
      approachRate: -0.510163 m/s,
      rangeRepo size: 4

2025-08-21T07:02:30.851Z,1755759750.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.714386 m,
      bearing: 102.062166 deg,
      lat: 36.779355 deg,
      lon: -121.859411 deg,
      deltaT: 3.528282 s,
      deltaX: -1.790184 m,
      approachRate: -0.507381 m/s,
      posRepo size: 4

2025-08-21T07:02:30.860Z,1755759750.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.71 m.
2025-08-21T07:02:30.863Z,1755759750.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.714386 m,
      nav range: 33.584541 m,
      bearing: 101.079895 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012330 deg/s,
      cmd heading: 95.395101 deg,
      new cmd heading: 95.375219 deg.

2025-08-21T07:02:30.868Z,1755759750.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664612 target range: 33.714386 and range: 33.90 m.
2025-08-21T07:02:31.004Z,1755759751.004 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:02:31.173Z,1755759751.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.71 m.
2025-08-21T07:02:31.181Z,1755759751.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.714386 m,
      nav range: 33.400211 m,
      bearing: 101.077257 deg,
      approach rate: -0.568169 m/s,
      LOS rate: -0.008175 deg/s,
      cmd heading: 95.375218 deg,
      new cmd heading: 95.367262 deg.

2025-08-21T07:02:31.182Z,1755759751.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664473 target range: 33.714386 and range: 33.90 m.
2025-08-21T07:02:31.669Z,1755759751.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.71 m.
2025-08-21T07:02:31.677Z,1755759751.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.714386 m,
      nav range: 33.170811 m,
      bearing: 101.074151 deg,
      approach rate: -0.462146 m/s,
      LOS rate: -0.006301 deg/s,
      cmd heading: 95.367261 deg,
      new cmd heading: 95.357877 deg.

2025-08-21T07:02:31.678Z,1755759751.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664309 target range: 33.714386 and range: 33.90 m.
2025-08-21T07:02:32.008Z,1755759752.008 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:02:32.027Z,1755759752.027 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:32.028Z,1755759752.028 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:32.028Z,1755759752.028 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:32.028Z,1755759752.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:32.032Z,1755759752.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.71 m.
2025-08-21T07:02:32.035Z,1755759752.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.714386 m,
      nav range: 32.959728 m,
      bearing: 101.067869 deg,
      approach rate: -0.580830 m/s,
      LOS rate: -0.017396 deg/s,
      cmd heading: 95.357876 deg,
      new cmd heading: 95.338910 deg.

2025-08-21T07:02:32.036Z,1755759752.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663978 target range: 33.714386 and range: 33.90 m.
2025-08-21T07:02:32.280Z,1755759752.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499996
2025-08-21T07:02:32.430Z,1755759752.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.71 m.
2025-08-21T07:02:32.433Z,1755759752.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.714386 m,
      nav range: 32.764660 m,
      bearing: 101.062289 deg,
      approach rate: -0.490258 m/s,
      LOS rate: -0.014106 deg/s,
      cmd heading: 95.338909 deg,
      new cmd heading: 95.322071 deg.

2025-08-21T07:02:32.434Z,1755759752.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663684 target range: 33.714386 and range: 33.90 m.
2025-08-21T07:02:32.533Z,1755759752.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752869
2025-08-21T07:02:32.784Z,1755759752.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004035
2025-08-21T07:02:32.854Z,1755759752.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.71 m.
2025-08-21T07:02:32.861Z,1755759752.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.714386 m,
      nav range: 32.548599 m,
      bearing: 101.059296 deg,
      approach rate: -0.510368 m/s,
      LOS rate: -0.007119 deg/s,
      cmd heading: 95.322072 deg,
      new cmd heading: 95.313031 deg.

2025-08-21T07:02:32.862Z,1755759752.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663526 target range: 33.714386 and range: 33.90 m.
2025-08-21T07:02:33.038Z,1755759753.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257445
2025-08-21T07:02:33.207Z,1755759753.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.71 m.
2025-08-21T07:02:33.210Z,1755759753.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.714386 m,
      nav range: 32.374580 m,
      bearing: 101.057407 deg,
      approach rate: -0.492837 m/s,
      LOS rate: -0.005376 deg/s,
      cmd heading: 95.313029 deg,
      new cmd heading: 95.307334 deg.

2025-08-21T07:02:33.211Z,1755759753.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663427 target range: 33.714386 and range: 33.90 m.
2025-08-21T07:02:33.290Z,1755759753.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509018
2025-08-21T07:02:33.540Z,1755759753.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760175
2025-08-21T07:02:33.614Z,1755759753.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.71 m.
2025-08-21T07:02:33.617Z,1755759753.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.714386 m,
      nav range: 32.176636 m,
      bearing: 101.055524 deg,
      approach rate: -0.486489 m/s,
      LOS rate: -0.004658 deg/s,
      cmd heading: 95.307333 deg,
      new cmd heading: 95.301647 deg.

2025-08-21T07:02:33.618Z,1755759753.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663328 target range: 33.714386 and range: 33.90 m.
2025-08-21T07:02:33.792Z,1755759753.792 [DAT](INFO): DAT read: Rx Time:07:02:32.5685

2025-08-21T07:02:33.793Z,1755759753.793 [DAT](INFO): Rx dataTimestamp_ set to:1755759753.792428
2025-08-21T07:02:33.793Z,1755759753.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013109
2025-08-21T07:02:34.044Z,1755759754.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264162
2025-08-21T07:02:34.145Z,1755759754.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:34.148Z,1755759754.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.71 m.
2025-08-21T07:02:34.153Z,1755759754.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.714386 m,
      nav range: 31.936367 m,
      bearing: 101.052456 deg,
      approach rate: -0.449700 m/s,
      LOS rate: -0.005785 deg/s,
      cmd heading: 95.301650 deg,
      new cmd heading: 95.292378 deg.

2025-08-21T07:02:34.154Z,1755759754.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663166 target range: 33.714386 and range: 33.90 m.
2025-08-21T07:02:34.302Z,1755759754.302 [DAT](INFO): DAT read: 07:02:32.5685 LVL= 24048, 32753, 24786, 32755, AGC= 57, IDX= 421,-0.17,-2.778, 1.727,-2.830,-3.131, PHS= 0.455,-1.380, 0.258, RAW= 144.4,   7.7, CAL= 143.9,   8.4, ROT=   6.1,  -8.4

2025-08-21T07:02:34.303Z,1755759754.303 [DAT](INFO): got valid direction response:
 07:02:32.5685 LVL= 24048, 32753, 24786, 32755, AGC= 57, IDX= 421,-0.17,-2.778, 1.727,-2.830,-3.131, PHS= 0.455,-1.380, 0.258, RAW= 144.4,   7.7, CAL= 143.9,   8.4, ROT=   6.1,  -8.4

2025-08-21T07:02:34.304Z,1755759754.304 [DAT](INFO): DAT read: Bearing 269.9,   5.8 (Local)

2025-08-21T07:02:34.305Z,1755759754.305 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.9,   5.8 (Local)

2025-08-21T07:02:34.306Z,1755759754.306 [DAT](INFO): DAT read: Range 11 to 50 : 32.2 m  (Round-trip  43.0 ms) speed  0.4 m/s

2025-08-21T07:02:34.307Z,1755759754.307 [DAT](INFO): DAT read: user:2061>

2025-08-21T07:02:34.308Z,1755759754.308 [DAT](INFO): DAT read: Tx time:07:02:33.6713

2025-08-21T07:02:34.308Z,1755759754.308 [DAT](INFO): Ping request sent.
2025-08-21T07:02:34.308Z,1755759754.308 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:34.308Z,1755759754.308 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:34.309Z,1755759754.309 [DAT](INFO): direction in FSK: [0.983671,0.105124,0.146083]
2025-08-21T07:02:34.309Z,1755759754.309 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:34.310Z,1755759754.310 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:34.321Z,1755759754.321 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:34.321Z,1755759754.321 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:34.580Z,1755759754.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.200001 m,
      deltaT: 3.527731 s,
      deltaX: -1.700001 m,
      approachRate: -0.481896 m/s,
      rangeRepo size: 4

2025-08-21T07:02:34.582Z,1755759754.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.023594 m,
      bearing: 102.342548 deg,
      lat: 36.779353 deg,
      lon: -121.859412 deg,
      deltaT: 3.527731 s,
      deltaX: -1.690792 m,
      approachRate: -0.479286 m/s,
      posRepo size: 4

2025-08-21T07:02:34.583Z,1755759754.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-08-21T07:02:34.586Z,1755759754.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.023594 m,
      nav range: 31.717592 m,
      bearing: 101.478615 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005785 deg/s,
      cmd heading: 95.292375 deg,
      new cmd heading: 95.284881 deg.

2025-08-21T07:02:34.586Z,1755759754.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663035 target range: 32.023594 and range: 32.20 m.
2025-08-21T07:02:34.965Z,1755759754.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-08-21T07:02:34.968Z,1755759754.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.023594 m,
      nav range: 31.537001 m,
      bearing: 101.483298 deg,
      approach rate: -0.469605 m/s,
      LOS rate: 0.012246 deg/s,
      cmd heading: 95.284882 deg,
      new cmd heading: 95.299009 deg.

2025-08-21T07:02:34.969Z,1755759754.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663281 target range: 32.023594 and range: 32.20 m.
2025-08-21T07:02:35.332Z,1755759755.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-08-21T07:02:35.334Z,1755759755.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.023594 m,
      nav range: 31.358227 m,
      bearing: 101.488284 deg,
      approach rate: -0.487025 m/s,
      LOS rate: 0.013662 deg/s,
      cmd heading: 95.299007 deg,
      new cmd heading: 95.314051 deg.

2025-08-21T07:02:35.335Z,1755759755.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663544 target range: 32.023594 and range: 32.20 m.
2025-08-21T07:02:35.789Z,1755759755.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-08-21T07:02:35.796Z,1755759755.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.023594 m,
      nav range: 31.155834 m,
      bearing: 101.494888 deg,
      approach rate: -0.442632 m/s,
      LOS rate: 0.014536 deg/s,
      cmd heading: 95.314054 deg,
      new cmd heading: 95.333993 deg.

2025-08-21T07:02:35.800Z,1755759755.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663892 target range: 32.023594 and range: 32.20 m.
2025-08-21T07:02:36.136Z,1755759756.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-08-21T07:02:36.139Z,1755759756.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.023594 m,
      nav range: 30.989204 m,
      bearing: 101.500891 deg,
      approach rate: -0.479564 m/s,
      LOS rate: 0.017372 deg/s,
      cmd heading: 95.333991 deg,
      new cmd heading: 95.352099 deg.

2025-08-21T07:02:36.143Z,1755759756.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664208 target range: 32.023594 and range: 32.20 m.
2025-08-21T07:02:36.549Z,1755759756.549 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:36.564Z,1755759756.564 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:36.564Z,1755759756.564 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:36.564Z,1755759756.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:36.580Z,1755759756.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-08-21T07:02:36.583Z,1755759756.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.023594 m,
      nav range: 30.799177 m,
      bearing: 101.507818 deg,
      approach rate: -0.457625 m/s,
      LOS rate: 0.016782 deg/s,
      cmd heading: 95.352098 deg,
      new cmd heading: 95.373004 deg.

2025-08-21T07:02:36.588Z,1755759756.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664573 target range: 32.023594 and range: 32.20 m.
2025-08-21T07:02:36.816Z,1755759756.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508170
2025-08-21T07:02:36.996Z,1755759756.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-08-21T07:02:36.999Z,1755759756.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.023594 m,
      nav range: 30.603403 m,
      bearing: 101.511752 deg,
      approach rate: -0.440242 m/s,
      LOS rate: 0.008904 deg/s,
      cmd heading: 95.373005 deg,
      new cmd heading: 95.384884 deg.

2025-08-21T07:02:36.000Z,1755759757.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664780 target range: 32.023594 and range: 32.20 m.
2025-08-21T07:02:37.068Z,1755759757.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760340
2025-08-21T07:02:37.320Z,1755759757.320 [DAT](INFO): DAT read: Rx Time:07:02:36.1162

2025-08-21T07:02:37.321Z,1755759757.321 [DAT](INFO): Rx dataTimestamp_ set to:1755759757.320515
2025-08-21T07:02:37.321Z,1755759757.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013365
2025-08-21T07:02:37.367Z,1755759757.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.02 m.
2025-08-21T07:02:37.369Z,1755759757.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.023594 m,
      nav range: 30.438110 m,
      bearing: 101.515350 deg,
      approach rate: -0.446037 m/s,
      LOS rate: 0.009762 deg/s,
      cmd heading: 95.384883 deg,
      new cmd heading: 95.395735 deg.

2025-08-21T07:02:37.370Z,1755759757.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664970 target range: 32.023594 and range: 32.20 m.
2025-08-21T07:02:37.572Z,1755759757.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264157
2025-08-21T07:02:37.840Z,1755759757.840 [DAT](INFO): DAT read: 07:02:36.1162 LVL= 20976, 32609, 20882, 32755, AGC= 59, IDX= 413,-0.11, 0.261,-1.519, 0.192,-0.096, PHS= 0.460,-1.378, 0.245, RAW= 143.9,   7.8, CAL= 143.4,   8.5, ROT=   6.6,  -8.5

2025-08-21T07:02:37.841Z,1755759757.841 [DAT](INFO): got valid direction response:
 07:02:36.1162 LVL= 20976, 32609, 20882, 32755, AGC= 59, IDX= 413,-0.11, 0.261,-1.519, 0.192,-0.096, PHS= 0.460,-1.378, 0.245, RAW= 143.9,   7.8, CAL= 143.4,   8.5, ROT=   6.6,  -8.5

2025-08-21T07:02:37.842Z,1755759757.842 [DAT](INFO): DAT read: Bearing 269.5,   6.5 (Local)

2025-08-21T07:02:37.842Z,1755759757.842 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.5,   6.5 (Local)

2025-08-21T07:02:37.844Z,1755759757.844 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m  (Round-trip  40.7 ms) speed  0.4 m/s

2025-08-21T07:02:37.844Z,1755759757.844 [DAT](INFO): DAT read: user:2062>

2025-08-21T07:02:37.845Z,1755759757.845 [DAT](INFO): DAT read: Tx time:07:02:37.2213

2025-08-21T07:02:37.845Z,1755759757.845 [DAT](INFO): Ping request sent.
2025-08-21T07:02:37.846Z,1755759757.846 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:37.846Z,1755759757.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:37.847Z,1755759757.847 [DAT](INFO): direction in FSK: [0.982461,0.113675,0.147809]
2025-08-21T07:02:37.847Z,1755759757.847 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:37.847Z,1755759757.847 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:37.850Z,1755759757.850 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:37.851Z,1755759757.851 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:37.918Z,1755759757.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.500000 m,
      deltaT: 3.529427 s,
      deltaX: -1.700001 m,
      approachRate: -0.481665 m/s,
      rangeRepo size: 4

2025-08-21T07:02:37.936Z,1755759757.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.332870 m,
      bearing: 102.158258 deg,
      lat: 36.779351 deg,
      lon: -121.859413 deg,
      deltaT: 3.529427 s,
      deltaX: -1.690723 m,
      approachRate: -0.479036 m/s,
      posRepo size: 4

2025-08-21T07:02:37.937Z,1755759757.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m.
2025-08-21T07:02:37.953Z,1755759757.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.332870 m,
      nav range: 30.131165 m,
      bearing: 102.099625 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.009762 deg/s,
      cmd heading: 95.395736 deg,
      new cmd heading: 95.411875 deg.

2025-08-21T07:02:37.960Z,1755759757.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665251 target range: 30.332870 and range: 30.50 m.
2025-08-21T07:02:38.291Z,1755759758.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m.
2025-08-21T07:02:38.293Z,1755759758.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.332870 m,
      nav range: 29.946169 m,
      bearing: 102.111231 deg,
      approach rate: -0.496027 m/s,
      LOS rate: 0.031310 deg/s,
      cmd heading: 95.411876 deg,
      new cmd heading: 95.446907 deg.

2025-08-21T07:02:38.294Z,1755759758.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665863 target range: 30.332870 and range: 30.50 m.
2025-08-21T07:02:38.734Z,1755759758.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:38.756Z,1755759758.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m.
2025-08-21T07:02:38.759Z,1755759758.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.332870 m,
      nav range: 29.758558 m,
      bearing: 102.123227 deg,
      approach rate: -0.402892 m/s,
      LOS rate: 0.025925 deg/s,
      cmd heading: 95.446908 deg,
      new cmd heading: 95.483124 deg.

2025-08-21T07:02:38.764Z,1755759758.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666495 target range: 30.332870 and range: 30.50 m.
2025-08-21T07:02:38.832Z,1755759758.832 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:38.832Z,1755759758.832 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:38.832Z,1755759758.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:39.084Z,1755759759.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238727
2025-08-21T07:02:39.132Z,1755759759.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m.
2025-08-21T07:02:39.134Z,1755759759.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.332870 m,
      nav range: 29.546833 m,
      bearing: 102.139660 deg,
      approach rate: -0.596036 m/s,
      LOS rate: 0.046591 deg/s,
      cmd heading: 95.483121 deg,
      new cmd heading: 95.532772 deg.

2025-08-21T07:02:39.140Z,1755759759.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667361 target range: 30.332870 and range: 30.50 m.
2025-08-21T07:02:39.336Z,1755759759.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490715
2025-08-21T07:02:39.504Z,1755759759.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m.
2025-08-21T07:02:39.507Z,1755759759.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.332870 m,
      nav range: 29.357952 m,
      bearing: 102.154370 deg,
      approach rate: -0.482076 m/s,
      LOS rate: 0.037787 deg/s,
      cmd heading: 95.532770 deg,
      new cmd heading: 95.577185 deg.

2025-08-21T07:02:39.508Z,1755759759.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668137 target range: 30.332870 and range: 30.50 m.
2025-08-21T07:02:39.589Z,1755759759.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743220
2025-08-21T07:02:39.840Z,1755759759.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994648
2025-08-21T07:02:39.961Z,1755759759.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m.
2025-08-21T07:02:39.968Z,1755759759.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.332870 m,
      nav range: 29.126017 m,
      bearing: 102.168078 deg,
      approach rate: -0.506857 m/s,
      LOS rate: 0.030195 deg/s,
      cmd heading: 95.577187 deg,
      new cmd heading: 95.618638 deg.

2025-08-21T07:02:39.969Z,1755759759.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668860 target range: 30.332870 and range: 30.50 m.
2025-08-21T07:02:40.092Z,1755759760.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246688
2025-08-21T07:02:40.316Z,1755759760.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m.
2025-08-21T07:02:40.319Z,1755759760.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.332870 m,
      nav range: 28.938307 m,
      bearing: 102.179220 deg,
      approach rate: -0.527984 m/s,
      LOS rate: 0.031542 deg/s,
      cmd heading: 95.618639 deg,
      new cmd heading: 95.652281 deg.

2025-08-21T07:02:40.320Z,1755759760.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669447 target range: 30.332870 and range: 30.50 m.
2025-08-21T07:02:40.344Z,1755759760.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498622
2025-08-21T07:02:40.597Z,1755759760.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751833
2025-08-21T07:02:40.743Z,1755759760.743 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:40.777Z,1755759760.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m.
2025-08-21T07:02:40.789Z,1755759760.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.332870 m,
      nav range: 28.741875 m,
      bearing: 102.190748 deg,
      approach rate: -0.432566 m/s,
      LOS rate: 0.025560 deg/s,
      cmd heading: 95.652278 deg,
      new cmd heading: 95.687098 deg.

2025-08-21T07:02:40.790Z,1755759760.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670055 target range: 30.332870 and range: 30.50 m.
2025-08-21T07:02:40.850Z,1755759760.850 [DAT](INFO): DAT read: Rx Time:07:02:39.6638

2025-08-21T07:02:40.850Z,1755759760.850 [DAT](INFO): Rx dataTimestamp_ set to:1755759760.849701
2025-08-21T07:02:40.851Z,1755759760.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005325
2025-08-21T07:02:41.100Z,1755759761.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254682
2025-08-21T07:02:41.186Z,1755759761.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.33 m.
2025-08-21T07:02:41.193Z,1755759761.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.332870 m,
      nav range: 28.513647 m,
      bearing: 102.204903 deg,
      approach rate: -0.558503 m/s,
      LOS rate: 0.034917 deg/s,
      cmd heading: 95.687098 deg,
      new cmd heading: 95.729904 deg.

2025-08-21T07:02:41.194Z,1755759761.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670802 target range: 30.332870 and range: 30.50 m.
2025-08-21T07:02:41.370Z,1755759761.370 [DAT](INFO): DAT read: 07:02:39.6638 LVL= 22256, 31521, 20386, 31219, AGC= 58, IDX= 421, 0.05,-0.846,-2.625,-0.870,-1.191, PHS= 0.447,-1.389, 0.277, RAW= 145.2,   7.6, CAL= 144.7,   8.3, ROT=   5.3,  -8.3

2025-08-21T07:02:41.378Z,1755759761.378 [DAT](INFO): got valid direction response:
 07:02:39.6638 LVL= 22256, 31521, 20386, 31219, AGC= 58, IDX= 421, 0.05,-0.846,-2.625,-0.870,-1.191, PHS= 0.447,-1.389, 0.277, RAW= 145.2,   7.6, CAL= 144.7,   8.3, ROT=   5.3,  -8.3

2025-08-21T07:02:41.380Z,1755759761.380 [DAT](INFO): DAT read: Bearing 269.3,   5.3 (Local)

2025-08-21T07:02:41.381Z,1755759761.381 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.3,   5.3 (Local)

2025-08-21T07:02:41.382Z,1755759761.382 [DAT](INFO): DAT read: Range 11 to 50 : 28.7 m  (Round-trip  38.3 ms) speed  0.4 m/s

2025-08-21T07:02:41.383Z,1755759761.383 [DAT](INFO): DAT read: user:2063>

2025-08-21T07:02:41.384Z,1755759761.384 [DAT](INFO): DAT read: Tx time:07:02:40.7713

2025-08-21T07:02:41.385Z,1755759761.385 [DAT](INFO): Ping request sent.
2025-08-21T07:02:41.385Z,1755759761.385 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:41.385Z,1755759761.385 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:41.386Z,1755759761.386 [DAT](INFO): direction in FSK: [0.985295,0.091403,0.144356]
2025-08-21T07:02:41.386Z,1755759761.386 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:41.387Z,1755759761.387 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:41.406Z,1755759761.406 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:41.406Z,1755759761.406 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:41.567Z,1755759761.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.700001 m,
      deltaT: 3.528050 s,
      deltaX: -1.799999 m,
      approachRate: -0.510197 m/s,
      rangeRepo size: 4

2025-08-21T07:02:41.569Z,1755759761.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.542736 m,
      bearing: 100.997971 deg,
      lat: 36.779351 deg,
      lon: -121.859413 deg,
      deltaT: 3.528050 s,
      deltaX: -1.790134 m,
      approachRate: -0.507401 m/s,
      posRepo size: 4

2025-08-21T07:02:41.570Z,1755759761.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m.
2025-08-21T07:02:41.581Z,1755759761.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.542736 m,
      nav range: 28.314974 m,
      bearing: 102.217028 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.034917 deg/s,
      cmd heading: 95.729903 deg,
      new cmd heading: 95.770484 deg.

2025-08-21T07:02:41.582Z,1755759761.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671510 target range: 28.542736 and range: 28.70 m.
2025-08-21T07:02:41.971Z,1755759761.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m.
2025-08-21T07:02:41.974Z,1755759761.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.542736 m,
      nav range: 28.096712 m,
      bearing: 102.231359 deg,
      approach rate: -0.539467 m/s,
      LOS rate: 0.035694 deg/s,
      cmd heading: 95.770481 deg,
      new cmd heading: 95.813805 deg.

2025-08-21T07:02:41.975Z,1755759761.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672266 target range: 28.542736 and range: 28.70 m.
2025-08-21T07:02:42.342Z,1755759762.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m.
2025-08-21T07:02:42.345Z,1755759762.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.542736 m,
      nav range: 27.906378 m,
      bearing: 102.243754 deg,
      approach rate: -0.513318 m/s,
      LOS rate: 0.033657 deg/s,
      cmd heading: 95.813805 deg,
      new cmd heading: 95.851244 deg.

2025-08-21T07:02:42.346Z,1755759762.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672920 target range: 28.542736 and range: 28.70 m.
2025-08-21T07:02:42.749Z,1755759762.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m.
2025-08-21T07:02:42.793Z,1755759762.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.542736 m,
      nav range: 27.699594 m,
      bearing: 102.257086 deg,
      approach rate: -0.510194 m/s,
      LOS rate: 0.033140 deg/s,
      cmd heading: 95.851241 deg,
      new cmd heading: 95.891536 deg.

2025-08-21T07:02:42.801Z,1755759762.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673623 target range: 28.542736 and range: 28.70 m.
2025-08-21T07:02:43.187Z,1755759763.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:43.190Z,1755759763.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m.
2025-08-21T07:02:43.192Z,1755759763.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.542736 m,
      nav range: 27.477533 m,
      bearing: 102.276330 deg,
      approach rate: -0.502129 m/s,
      LOS rate: 0.043867 deg/s,
      cmd heading: 95.891539 deg,
      new cmd heading: 95.949738 deg.

2025-08-21T07:02:43.193Z,1755759763.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.674639 target range: 28.542736 and range: 28.70 m.
2025-08-21T07:02:43.368Z,1755759763.368 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:43.368Z,1755759763.368 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:43.368Z,1755759763.368 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:43.558Z,1755759763.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m.
2025-08-21T07:02:43.561Z,1755759763.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.542736 m,
      nav range: 27.290060 m,
      bearing: 102.292679 deg,
      approach rate: -0.508670 m/s,
      LOS rate: 0.044665 deg/s,
      cmd heading: 95.949739 deg,
      new cmd heading: 95.999124 deg.

2025-08-21T07:02:43.562Z,1755759763.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.675501 target range: 28.542736 and range: 28.70 m.
2025-08-21T07:02:43.621Z,1755759763.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235872
2025-08-21T07:02:43.872Z,1755759763.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487388
2025-08-21T07:02:44.001Z,1755759764.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m.
2025-08-21T07:02:44.004Z,1755759764.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.542736 m,
      nav range: 27.076168 m,
      bearing: 102.303800 deg,
      approach rate: -0.482444 m/s,
      LOS rate: 0.025282 deg/s,
      cmd heading: 95.999122 deg,
      new cmd heading: 96.032748 deg.

2025-08-21T07:02:44.005Z,1755759764.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.676088 target range: 28.542736 and range: 28.70 m.
2025-08-21T07:02:44.124Z,1755759764.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739349
2025-08-21T07:02:44.366Z,1755759764.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m.
2025-08-21T07:02:44.369Z,1755759764.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.542736 m,
      nav range: 26.900309 m,
      bearing: 102.313001 deg,
      approach rate: -0.482499 m/s,
      LOS rate: 0.025410 deg/s,
      cmd heading: 96.032747 deg,
      new cmd heading: 96.060531 deg.

2025-08-21T07:02:44.370Z,1755759764.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.676573 target range: 28.542736 and range: 28.70 m.
2025-08-21T07:02:44.376Z,1755759764.376 [DAT](INFO): DAT read: Rx Time:07:02:43.2115

2025-08-21T07:02:44.377Z,1755759764.377 [DAT](INFO): Rx dataTimestamp_ set to:1755759764.376562
2025-08-21T07:02:44.377Z,1755759764.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.992561
2025-08-21T07:02:44.628Z,1755759764.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243462
2025-08-21T07:02:44.884Z,1755759764.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498223
2025-08-21T07:02:44.971Z,1755759764.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m.
2025-08-21T07:02:44.977Z,1755759764.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.542736 m,
      nav range: 26.606899 m,
      bearing: 102.329126 deg,
      approach rate: -0.485221 m/s,
      LOS rate: 0.026961 deg/s,
      cmd heading: 96.060532 deg,
      new cmd heading: 96.109441 deg.

2025-08-21T07:02:44.978Z,1755759764.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677426 target range: 28.542736 and range: 28.70 m.
2025-08-21T07:02:45.139Z,1755759765.139 [DAT](INFO): DAT read: 07:02:43.2115 LVL= 20784, 30385, 22898, 32755, AGC= 58, IDX= 413, 0.45,-2.863, 1.596,-2.815, 3.106, PHS= 0.416,-1.465, 0.318, RAW= 147.3,   8.0, CAL= 146.9,   8.7, ROT=   3.1,  -8.7

2025-08-21T07:02:45.140Z,1755759765.140 [DAT](INFO): got valid direction response:
 07:02:43.2115 LVL= 20784, 30385, 22898, 32755, AGC= 58, IDX= 413, 0.45,-2.863, 1.596,-2.815, 3.106, PHS= 0.416,-1.465, 0.318, RAW= 147.3,   8.0, CAL= 146.9,   8.7, ROT=   3.1,  -8.7

2025-08-21T07:02:45.142Z,1755759765.142 [DAT](INFO): DAT read: Bearing 270.1,   3.2 (Local)

2025-08-21T07:02:45.142Z,1755759765.142 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.1,   3.2 (Local)

2025-08-21T07:02:45.145Z,1755759765.145 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m  (Round-trip  36.0 ms) speed  0.4 m/s

2025-08-21T07:02:45.146Z,1755759765.146 [DAT](INFO): DAT read: user:2064>

2025-08-21T07:02:45.147Z,1755759765.147 [DAT](INFO): DAT read: Tx time:07:02:44.3213

2025-08-21T07:02:45.148Z,1755759765.148 [DAT](INFO): Ping request sent.
2025-08-21T07:02:45.149Z,1755759765.149 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:45.149Z,1755759765.149 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:45.150Z,1755759765.150 [DAT](INFO): direction in FSK: [0.987047,0.053457,0.151261]
2025-08-21T07:02:45.151Z,1755759765.151 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:45.151Z,1755759765.151 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:45.178Z,1755759765.178 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:45.178Z,1755759765.178 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:45.358Z,1755759765.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.000000 m,
      deltaT: 3.778473 s,
      deltaX: -1.700001 m,
      approachRate: -0.449917 m/s,
      rangeRepo size: 4

2025-08-21T07:02:45.364Z,1755759765.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.852007 m,
      bearing: 98.906186 deg,
      lat: 36.779351 deg,
      lon: -121.859413 deg,
      deltaT: 3.778473 s,
      deltaX: -1.690729 m,
      approachRate: -0.447464 m/s,
      posRepo size: 4

2025-08-21T07:02:45.364Z,1755759765.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-08-21T07:02:45.367Z,1755759765.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.852007 m,
      nav range: 26.423952 m,
      bearing: 102.339602 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026961 deg/s,
      cmd heading: 96.109443 deg,
      new cmd heading: 96.140689 deg.

2025-08-21T07:02:45.372Z,1755759765.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677972 target range: 26.852007 and range: 27.00 m.
2025-08-21T07:02:45.737Z,1755759765.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:45.740Z,1755759765.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-08-21T07:02:45.742Z,1755759765.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.852007 m,
      nav range: 26.237282 m,
      bearing: 102.350475 deg,
      approach rate: -0.487976 m/s,
      LOS rate: 0.028627 deg/s,
      cmd heading: 96.140691 deg,
      new cmd heading: 96.173543 deg.

2025-08-21T07:02:45.743Z,1755759765.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.678545 target range: 26.852007 and range: 27.00 m.
2025-08-21T07:02:45.888Z,1755759765.888 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:45.888Z,1755759765.888 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:45.888Z,1755759765.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:46.141Z,1755759766.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.992369
2025-08-21T07:02:46.174Z,1755759766.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-08-21T07:02:46.187Z,1755759766.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.852007 m,
      nav range: 26.035900 m,
      bearing: 102.362982 deg,
      approach rate: -0.464192 m/s,
      LOS rate: 0.029051 deg/s,
      cmd heading: 96.173544 deg,
      new cmd heading: 96.211354 deg.

2025-08-21T07:02:46.192Z,1755759766.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.679205 target range: 26.852007 and range: 27.00 m.
2025-08-21T07:02:46.392Z,1755759766.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243871
2025-08-21T07:02:46.511Z,1755759766.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-08-21T07:02:46.513Z,1755759766.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.852007 m,
      nav range: 25.858196 m,
      bearing: 102.374203 deg,
      approach rate: -0.526756 m/s,
      LOS rate: 0.033491 deg/s,
      cmd heading: 96.211356 deg,
      new cmd heading: 96.245251 deg.

2025-08-21T07:02:46.514Z,1755759766.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.679797 target range: 26.852007 and range: 27.00 m.
2025-08-21T07:02:46.644Z,1755759766.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495942
2025-08-21T07:02:46.896Z,1755759766.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748065
2025-08-21T07:02:46.977Z,1755759766.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-08-21T07:02:46.980Z,1755759766.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.852007 m,
      nav range: 25.638718 m,
      bearing: 102.382121 deg,
      approach rate: -0.470317 m/s,
      LOS rate: 0.017113 deg/s,
      cmd heading: 96.245254 deg,
      new cmd heading: 96.269212 deg.

2025-08-21T07:02:46.981Z,1755759766.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.680215 target range: 26.852007 and range: 27.00 m.
2025-08-21T07:02:47.149Z,1755759767.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000599
2025-08-21T07:02:47.323Z,1755759767.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-08-21T07:02:47.326Z,1755759767.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.852007 m,
      nav range: 25.462990 m,
      bearing: 102.388706 deg,
      approach rate: -0.508800 m/s,
      LOS rate: 0.019198 deg/s,
      cmd heading: 96.269215 deg,
      new cmd heading: 96.289106 deg.

2025-08-21T07:02:47.326Z,1755759767.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.680562 target range: 26.852007 and range: 27.00 m.
2025-08-21T07:02:47.404Z,1755759767.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255144
2025-08-21T07:02:47.652Z,1755759767.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503922
2025-08-21T07:02:47.725Z,1755759767.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-08-21T07:02:47.730Z,1755759767.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.852007 m,
      nav range: 25.267767 m,
      bearing: 102.396098 deg,
      approach rate: -0.487252 m/s,
      LOS rate: 0.018592 deg/s,
      cmd heading: 96.289104 deg,
      new cmd heading: 96.311452 deg.

2025-08-21T07:02:47.731Z,1755759767.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.680952 target range: 26.852007 and range: 27.00 m.
2025-08-21T07:02:47.904Z,1755759767.904 [DAT](INFO): DAT read: Rx Time:07:02:46.7591

2025-08-21T07:02:47.906Z,1755759767.906 [DAT](INFO): Rx dataTimestamp_ set to:1755759767.904943
2025-08-21T07:02:47.907Z,1755759767.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758121
2025-08-21T07:02:48.152Z,1755759768.152 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:48.157Z,1755759768.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008544
2025-08-21T07:02:48.158Z,1755759768.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-08-21T07:02:48.162Z,1755759768.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.852007 m,
      nav range: 25.058435 m,
      bearing: 102.401460 deg,
      approach rate: -0.484689 m/s,
      LOS rate: 0.012518 deg/s,
      cmd heading: 96.311452 deg,
      new cmd heading: 96.327672 deg.

2025-08-21T07:02:48.164Z,1755759768.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681235 target range: 26.852007 and range: 27.00 m.
2025-08-21T07:02:48.409Z,1755759768.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260927
2025-08-21T07:02:48.533Z,1755759768.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m.
2025-08-21T07:02:48.536Z,1755759768.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.852007 m,
      nav range: 24.870632 m,
      bearing: 102.406136 deg,
      approach rate: -0.497501 m/s,
      LOS rate: 0.012481 deg/s,
      cmd heading: 96.327674 deg,
      new cmd heading: 96.341809 deg.

2025-08-21T07:02:48.537Z,1755759768.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681482 target range: 26.852007 and range: 27.00 m.
2025-08-21T07:02:48.666Z,1755759768.666 [DAT](INFO): DAT read: 07:02:46.7591 LVL= 23728, 27633, 22002, 31043, AGC= 58, IDX= 421, 0.25,-0.108,-1.832,-0.013,-0.393, PHS= 0.387,-1.395, 0.336, RAW= 148.6,   7.7, CAL= 148.0,   8.3, ROT=   2.0,  -8.3

2025-08-21T07:02:48.667Z,1755759768.667 [DAT](INFO): got valid direction response:
 07:02:46.7591 LVL= 23728, 27633, 22002, 31043, AGC= 58, IDX= 421, 0.25,-0.108,-1.832,-0.013,-0.393, PHS= 0.387,-1.395, 0.336, RAW= 148.6,   7.7, CAL= 148.0,   8.3, ROT=   2.0,  -8.3

2025-08-21T07:02:48.673Z,1755759768.673 [DAT](INFO): DAT read: Bearing 269.8,   1.9 (Local)

2025-08-21T07:02:48.673Z,1755759768.673 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.8,   1.9 (Local)

2025-08-21T07:02:48.674Z,1755759768.674 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m  (Round-trip  33.6 ms) speed  0.4 m/s

2025-08-21T07:02:48.675Z,1755759768.675 [DAT](INFO): DAT read: user:2065>

2025-08-21T07:02:48.676Z,1755759768.676 [DAT](INFO): DAT read: Tx time:07:02:47.8729

2025-08-21T07:02:48.676Z,1755759768.676 [DAT](INFO): Ping request sent.
2025-08-21T07:02:48.676Z,1755759768.676 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:48.677Z,1755759768.677 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:48.678Z,1755759768.678 [DAT](INFO): direction in FSK: [0.988923,0.034534,0.144356]
2025-08-21T07:02:48.678Z,1755759768.678 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:48.678Z,1755759768.678 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:48.689Z,1755759768.689 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:48.690Z,1755759768.690 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:49.034Z,1755759769.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 3.528049 s,
      deltaX: -1.799999 m,
      approachRate: -0.510197 m/s,
      rangeRepo size: 4

2025-08-21T07:02:49.041Z,1755759769.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.061861 m,
      bearing: 97.778846 deg,
      lat: 36.779356 deg,
      lon: -121.859412 deg,
      deltaT: 3.528049 s,
      deltaX: -1.790146 m,
      approachRate: -0.507404 m/s,
      posRepo size: 4

2025-08-21T07:02:49.041Z,1755759769.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m.
2025-08-21T07:02:49.048Z,1755759769.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.061861 m,
      nav range: 24.575542 m,
      bearing: 101.004938 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012481 deg/s,
      cmd heading: 96.341806 deg,
      new cmd heading: 96.360571 deg.

2025-08-21T07:02:49.049Z,1755759769.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681809 target range: 25.061861 and range: 25.20 m.
2025-08-21T07:02:49.347Z,1755759769.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m.
2025-08-21T07:02:49.350Z,1755759769.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.061861 m,
      nav range: 24.396526 m,
      bearing: 100.994624 deg,
      approach rate: -0.571165 m/s,
      LOS rate: -0.033149 deg/s,
      cmd heading: 96.360568 deg,
      new cmd heading: 96.329399 deg.

2025-08-21T07:02:49.351Z,1755759769.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681265 target range: 25.061861 and range: 25.20 m.
2025-08-21T07:02:49.761Z,1755759769.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m.
2025-08-21T07:02:49.764Z,1755759769.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.061861 m,
      nav range: 24.196142 m,
      bearing: 100.981947 deg,
      approach rate: -0.484490 m/s,
      LOS rate: -0.030904 deg/s,
      cmd heading: 96.329402 deg,
      new cmd heading: 96.291057 deg.

2025-08-21T07:02:49.765Z,1755759769.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.680596 target range: 25.061861 and range: 25.20 m.
2025-08-21T07:02:50.188Z,1755759770.188 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:50.191Z,1755759770.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m.
2025-08-21T07:02:50.202Z,1755759770.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.061861 m,
      nav range: 23.982939 m,
      bearing: 100.973590 deg,
      approach rate: -0.496237 m/s,
      LOS rate: -0.019623 deg/s,
      cmd heading: 96.291058 deg,
      new cmd heading: 96.265765 deg.

2025-08-21T07:02:50.202Z,1755759770.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.680155 target range: 25.061861 and range: 25.20 m.
2025-08-21T07:02:50.425Z,1755759770.425 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:50.425Z,1755759770.425 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:50.425Z,1755759770.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:50.560Z,1755759770.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m.
2025-08-21T07:02:50.562Z,1755759770.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.061861 m,
      nav range: 23.793480 m,
      bearing: 100.965717 deg,
      approach rate: -0.513774 m/s,
      LOS rate: -0.021519 deg/s,
      cmd heading: 96.265765 deg,
      new cmd heading: 96.241959 deg.

2025-08-21T07:02:50.567Z,1755759770.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.679739 target range: 25.061861 and range: 25.20 m.
2025-08-21T07:02:50.676Z,1755759770.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999915
2025-08-21T07:02:50.931Z,1755759770.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253742
2025-08-21T07:02:51.004Z,1755759771.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m.
2025-08-21T07:02:51.006Z,1755759771.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.061861 m,
      nav range: 23.552530 m,
      bearing: 100.947067 deg,
      approach rate: -0.542540 m/s,
      LOS rate: -0.042424 deg/s,
      cmd heading: 96.241962 deg,
      new cmd heading: 96.185438 deg.

2025-08-21T07:02:51.007Z,1755759771.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.678753 target range: 25.061861 and range: 25.20 m.
2025-08-21T07:02:51.180Z,1755759771.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503902
2025-08-21T07:02:51.372Z,1755759771.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m.
2025-08-21T07:02:51.374Z,1755759771.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.061861 m,
      nav range: 23.367905 m,
      bearing: 100.932003 deg,
      approach rate: -0.524512 m/s,
      LOS rate: -0.043133 deg/s,
      cmd heading: 96.185435 deg,
      new cmd heading: 96.139887 deg.

2025-08-21T07:02:51.380Z,1755759771.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677958 target range: 25.061861 and range: 25.20 m.
2025-08-21T07:02:51.433Z,1755759771.433 [DAT](INFO): DAT read: Rx Time:07:02:50.3083

2025-08-21T07:02:51.433Z,1755759771.433 [DAT](INFO): Rx dataTimestamp_ set to:1755759771.432773
2025-08-21T07:02:51.434Z,1755759771.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757250
2025-08-21T07:02:51.684Z,1755759771.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007920
2025-08-21T07:02:51.763Z,1755759771.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m.
2025-08-21T07:02:51.766Z,1755759771.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.061861 m,
      nav range: 23.154324 m,
      bearing: 100.913911 deg,
      approach rate: -0.524038 m/s,
      LOS rate: -0.044800 deg/s,
      cmd heading: 96.139885 deg,
      new cmd heading: 96.085108 deg.

2025-08-21T07:02:51.767Z,1755759771.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677001 target range: 25.061861 and range: 25.20 m.
2025-08-21T07:02:51.941Z,1755759771.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264247
2025-08-21T07:02:52.194Z,1755759772.194 [DAT](INFO): DAT read: 07:02:50.3083 LVL= 20336, 32465, 22626, 32051, AGC= 58, IDX= 413, 0.47,-2.714, 1.848,-2.549,-2.973, PHS= 0.361,-1.417, 0.380, RAW= 150.5,   7.6, CAL= 150.0,   8.1, ROT=   0.0,  -8.1

2025-08-21T07:02:52.195Z,1755759772.195 [DAT](INFO): got valid direction response:
 07:02:50.3083 LVL= 20336, 32465, 22626, 32051, AGC= 58, IDX= 413, 0.47,-2.714, 1.848,-2.549,-2.973, PHS= 0.361,-1.417, 0.380, RAW= 150.5,   7.6, CAL= 150.0,   8.1, ROT=   0.0,  -8.1

2025-08-21T07:02:52.196Z,1755759772.196 [DAT](INFO): DAT read: Bearing 270.0,   0.0 (Local)

2025-08-21T07:02:52.196Z,1755759772.196 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.0,   0.0 (Local)

2025-08-21T07:02:52.198Z,1755759772.198 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m  (Round-trip  31.3 ms) speed  0.4 m/s

2025-08-21T07:02:52.199Z,1755759772.199 [DAT](INFO): DAT read: user:2066>

2025-08-21T07:02:52.199Z,1755759772.199 [DAT](INFO): DAT read: Tx time:07:02:51.4213

2025-08-21T07:02:52.200Z,1755759772.200 [DAT](INFO): Ping request sent.
2025-08-21T07:02:52.200Z,1755759772.200 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:52.200Z,1755759772.200 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:52.201Z,1755759772.201 [DAT](INFO): direction in FSK: [0.990024,0.000000,0.140901]
2025-08-21T07:02:52.201Z,1755759772.201 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:52.202Z,1755759772.202 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:52.209Z,1755759772.209 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:52.209Z,1755759772.209 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:52.305Z,1755759772.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.400000 m,
      deltaT: 3.528043 s,
      deltaX: -1.800001 m,
      approachRate: -0.510198 m/s,
      rangeRepo size: 4

2025-08-21T07:02:52.316Z,1755759772.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.271675 m,
      bearing: 96.180096 deg,
      lat: 36.779365 deg,
      lon: -121.859408 deg,
      deltaT: 3.528043 s,
      deltaX: -1.790186 m,
      approachRate: -0.507416 m/s,
      posRepo size: 4

2025-08-21T07:02:52.317Z,1755759772.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-08-21T07:02:52.328Z,1755759772.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.271675 m,
      nav range: 23.089180 m,
      bearing: 98.450476 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.044800 deg/s,
      cmd heading: 96.085107 deg,
      new cmd heading: 96.012301 deg.

2025-08-21T07:02:52.329Z,1755759772.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.675731 target range: 23.271675 and range: 23.40 m.
2025-08-21T07:02:52.665Z,1755759772.665 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:52.667Z,1755759772.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-08-21T07:02:52.670Z,1755759772.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.271675 m,
      nav range: 22.893148 m,
      bearing: 98.415018 deg,
      approach rate: -0.540707 m/s,
      LOS rate: -0.098638 deg/s,
      cmd heading: 96.012304 deg,
      new cmd heading: 95.905021 deg.

2025-08-21T07:02:52.671Z,1755759772.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673858 target range: 23.271675 and range: 23.40 m.
2025-08-21T07:02:52.692Z,1755759772.692 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:52.692Z,1755759772.692 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:52.692Z,1755759772.692 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:52.948Z,1755759772.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748051
2025-08-21T07:02:53.108Z,1755759773.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-08-21T07:02:53.111Z,1755759773.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.271675 m,
      nav range: 22.680717 m,
      bearing: 98.380344 deg,
      approach rate: -0.482110 m/s,
      LOS rate: -0.079430 deg/s,
      cmd heading: 95.905022 deg,
      new cmd heading: 95.800025 deg.

2025-08-21T07:02:53.112Z,1755759773.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.672026 target range: 23.271675 and range: 23.40 m.
2025-08-21T07:02:53.198Z,1755759773.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998159
2025-08-21T07:02:53.448Z,1755759773.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248264
2025-08-21T07:02:53.496Z,1755759773.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-08-21T07:02:53.499Z,1755759773.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.271675 m,
      nav range: 22.493027 m,
      bearing: 98.348521 deg,
      approach rate: -0.483023 m/s,
      LOS rate: -0.082581 deg/s,
      cmd heading: 95.800028 deg,
      new cmd heading: 95.703761 deg.

2025-08-21T07:02:53.500Z,1755759773.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670346 target range: 23.271675 and range: 23.40 m.
2025-08-21T07:02:53.700Z,1755759773.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500443
2025-08-21T07:02:53.956Z,1755759773.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755026
2025-08-21T07:02:54.024Z,1755759774.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-08-21T07:02:54.026Z,1755759774.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.271675 m,
      nav range: 22.246466 m,
      bearing: 98.305648 deg,
      approach rate: -0.467546 m/s,
      LOS rate: -0.082200 deg/s,
      cmd heading: 95.703764 deg,
      new cmd heading: 95.573720 deg.

2025-08-21T07:02:54.039Z,1755759774.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668076 target range: 23.271675 and range: 23.40 m.
2025-08-21T07:02:54.204Z,1755759774.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004616
2025-08-21T07:02:54.381Z,1755759774.381 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022610501264,35.0, +10.6, 92.2,  0
2025-08-21T07:02:54.431Z,1755759774.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-08-21T07:02:54.437Z,1755759774.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.271675 m,
      nav range: 22.056345 m,
      bearing: 98.271907 deg,
      approach rate: -0.467356 m/s,
      LOS rate: -0.083656 deg/s,
      cmd heading: 95.573717 deg,
      new cmd heading: 95.471623 deg.

2025-08-21T07:02:54.438Z,1755759774.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666294 target range: 23.271675 and range: 23.40 m.
2025-08-21T07:02:54.456Z,1755759774.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256541
2025-08-21T07:02:54.709Z,1755759774.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508896
2025-08-21T07:02:54.798Z,1755759774.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:54.804Z,1755759774.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-08-21T07:02:54.807Z,1755759774.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.271675 m,
      nav range: 21.872480 m,
      bearing: 98.238658 deg,
      approach rate: -0.492175 m/s,
      LOS rate: -0.089752 deg/s,
      cmd heading: 95.471626 deg,
      new cmd heading: 95.371039 deg.

2025-08-21T07:02:54.812Z,1755759774.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664539 target range: 23.271675 and range: 23.40 m.
2025-08-21T07:02:54.963Z,1755759774.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763019
2025-08-21T07:02:55.212Z,1755759775.212 [DAT](INFO): DAT read: Rx Time:07:02:53.8544

2025-08-21T07:02:55.213Z,1755759775.213 [DAT](INFO): Rx dataTimestamp_ set to:1755759775.212531
2025-08-21T07:02:55.213Z,1755759775.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013515
2025-08-21T07:02:55.270Z,1755759775.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-08-21T07:02:55.277Z,1755759775.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.271675 m,
      nav range: 21.644966 m,
      bearing: 98.208251 deg,
      approach rate: -0.488650 m/s,
      LOS rate: -0.065992 deg/s,
      cmd heading: 95.371038 deg,
      new cmd heading: 95.278860 deg.

2025-08-21T07:02:55.284Z,1755759775.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662930 target range: 23.271675 and range: 23.40 m.
2025-08-21T07:02:55.464Z,1755759775.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264326
2025-08-21T07:02:55.620Z,1755759775.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.27 m.
2025-08-21T07:02:55.623Z,1755759775.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.271675 m,
      nav range: 21.477606 m,
      bearing: 98.185725 deg,
      approach rate: -0.477494 m/s,
      LOS rate: -0.064771 deg/s,
      cmd heading: 95.278858 deg,
      new cmd heading: 95.210752 deg.

2025-08-21T07:02:55.624Z,1755759775.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.661741 target range: 23.271675 and range: 23.40 m.
2025-08-21T07:02:55.722Z,1755759775.722 [DAT](INFO): DAT read: 07:02:53.8544 LVL= 20976, 31281, 19154, 30499, AGC= 56, IDX= 422,-0.23,-0.002,-1.697, 0.273,-0.203, PHS= 0.302,-1.450, 0.431, RAW= 153.5,   7.9, CAL= 153.0,   8.4, ROT= 357.0,  -8.4

2025-08-21T07:02:55.724Z,1755759775.724 [DAT](INFO): got valid direction response:
 07:02:53.8544 LVL= 20976, 31281, 19154, 30499, AGC= 56, IDX= 422,-0.23,-0.002,-1.697, 0.273,-0.203, PHS= 0.302,-1.450, 0.431, RAW= 153.5,   7.9, CAL= 153.0,   8.4, ROT= 357.0,  -8.4

2025-08-21T07:02:55.725Z,1755759775.725 [DAT](INFO): DAT read: Bearing 270.7,  -2.8 (Local)

2025-08-21T07:02:55.725Z,1755759775.725 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.7,  -2.8 (Local)

2025-08-21T07:02:55.726Z,1755759775.726 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m  (Round-trip  29.1 ms) speed  0.4 m/s

2025-08-21T07:02:55.727Z,1755759775.727 [DAT](INFO): DAT read: user:2067>

2025-08-21T07:02:55.728Z,1755759775.728 [DAT](INFO): DAT read: Tx time:07:02:54.9712

2025-08-21T07:02:55.728Z,1755759775.728 [DAT](INFO): Ping request sent.
2025-08-21T07:02:55.729Z,1755759775.729 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:55.729Z,1755759775.729 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:55.730Z,1755759775.730 [DAT](INFO): direction in FSK: [0.987917,-0.051775,0.146083]
2025-08-21T07:02:55.730Z,1755759775.730 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:55.730Z,1755759775.730 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:55.734Z,1755759775.734 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:55.734Z,1755759775.734 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:56.088Z,1755759776.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.799999 m,
      deltaT: 3.528556 s,
      deltaX: -1.600000 m,
      approachRate: -0.453443 m/s,
      rangeRepo size: 4

2025-08-21T07:02:56.090Z,1755759776.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.680515 m,
      bearing: 93.303804 deg,
      lat: 36.779368 deg,
      lon: -121.859407 deg,
      deltaT: 3.528556 s,
      deltaX: -1.591160 m,
      approachRate: -0.450938 m/s,
      posRepo size: 4

2025-08-21T07:02:56.091Z,1755759776.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m.
2025-08-21T07:02:56.094Z,1755759776.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.680515 m,
      nav range: 21.282171 m,
      bearing: 97.071022 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.064771 deg/s,
      cmd heading: 95.210754 deg,
      new cmd heading: 95.119998 deg.

2025-08-21T07:02:56.095Z,1755759776.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660157 target range: 21.680515 and range: 21.80 m.
2025-08-21T07:02:56.438Z,1755759776.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m.
2025-08-21T07:02:56.441Z,1755759776.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.680515 m,
      nav range: 21.099287 m,
      bearing: 97.039922 deg,
      approach rate: -0.521317 m/s,
      LOS rate: -0.089421 deg/s,
      cmd heading: 95.120001 deg,
      new cmd heading: 95.025891 deg.

2025-08-21T07:02:56.442Z,1755759776.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658515 target range: 21.680515 and range: 21.80 m.
2025-08-21T07:02:56.836Z,1755759776.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:56.838Z,1755759776.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m.
2025-08-21T07:02:56.841Z,1755759776.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.680515 m,
      nav range: 20.904636 m,
      bearing: 97.006539 deg,
      approach rate: -0.486846 m/s,
      LOS rate: -0.084273 deg/s,
      cmd heading: 95.025895 deg,
      new cmd heading: 94.924813 deg.

2025-08-21T07:02:56.842Z,1755759776.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656751 target range: 21.680515 and range: 21.80 m.
2025-08-21T07:02:56.978Z,1755759776.978 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:02:56.979Z,1755759776.979 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:02:56.981Z,1755759776.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:02:57.228Z,1755759777.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499596
2025-08-21T07:02:57.278Z,1755759777.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m.
2025-08-21T07:02:57.285Z,1755759777.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.680515 m,
      nav range: 20.687727 m,
      bearing: 96.975625 deg,
      approach rate: -0.493475 m/s,
      LOS rate: -0.071068 deg/s,
      cmd heading: 94.924815 deg,
      new cmd heading: 94.831100 deg.

2025-08-21T07:02:57.286Z,1755759777.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.655115 target range: 21.680515 and range: 21.80 m.
2025-08-21T07:02:57.480Z,1755759777.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751583
2025-08-21T07:02:57.645Z,1755759777.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m.
2025-08-21T07:02:57.648Z,1755759777.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.680515 m,
      nav range: 20.506767 m,
      bearing: 96.949530 deg,
      approach rate: -0.492728 m/s,
      LOS rate: -0.071678 deg/s,
      cmd heading: 94.831098 deg,
      new cmd heading: 94.752124 deg.

2025-08-21T07:02:57.649Z,1755759777.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653737 target range: 21.680515 and range: 21.80 m.
2025-08-21T07:02:57.734Z,1755759777.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004601
2025-08-21T07:02:57.986Z,1755759777.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257226
2025-08-21T07:02:58.114Z,1755759778.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m.
2025-08-21T07:02:58.117Z,1755759778.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.680515 m,
      nav range: 20.283424 m,
      bearing: 96.911570 deg,
      approach rate: -0.475632 m/s,
      LOS rate: -0.081732 deg/s,
      cmd heading: 94.752127 deg,
      new cmd heading: 94.636991 deg.

2025-08-21T07:02:58.118Z,1755759778.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.651727 target range: 21.680515 and range: 21.80 m.
2025-08-21T07:02:58.237Z,1755759778.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507908
2025-08-21T07:02:58.452Z,1755759778.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m.
2025-08-21T07:02:58.454Z,1755759778.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.680515 m,
      nav range: 20.110186 m,
      bearing: 96.881570 deg,
      approach rate: -0.513990 m/s,
      LOS rate: -0.089774 deg/s,
      cmd heading: 94.636991 deg,
      new cmd heading: 94.546216 deg.

2025-08-21T07:02:58.472Z,1755759778.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.650143 target range: 21.680515 and range: 21.80 m.
2025-08-21T07:02:58.488Z,1755759778.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759700
2025-08-21T07:02:58.740Z,1755759778.740 [DAT](INFO): DAT read: Rx Time:07:02:57.4021

2025-08-21T07:02:58.741Z,1755759778.741 [DAT](INFO): Rx dataTimestamp_ set to:1755759778.740679
2025-08-21T07:02:58.741Z,1755759778.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012902
2025-08-21T07:02:58.862Z,1755759778.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:02:58.866Z,1755759778.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m.
2025-08-21T07:02:58.872Z,1755759778.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.680515 m,
      nav range: 19.907900 m,
      bearing: 96.846024 deg,
      approach rate: -0.488471 m/s,
      LOS rate: -0.086707 deg/s,
      cmd heading: 94.546217 deg,
      new cmd heading: 94.438496 deg.

2025-08-21T07:02:58.874Z,1755759778.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648263 target range: 21.680515 and range: 21.80 m.
2025-08-21T07:02:58.996Z,1755759778.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266250
2025-08-21T07:02:59.250Z,1755759779.250 [DAT](INFO): DAT read: 07:02:57.4021 LVL= 21216, 32753, 18674, 32451, AGC= 56, IDX= 414,-0.17, 2.895, 1.280,-3.053, 2.735, PHS= 0.262,-1.410, 0.451, RAW= 155.3,   7.9, CAL= 154.8,   8.3, ROT= 355.2,  -8.3

2025-08-21T07:02:59.251Z,1755759779.251 [DAT](INFO): got valid direction response:
 07:02:57.4021 LVL= 21216, 32753, 18674, 32451, AGC= 56, IDX= 414,-0.17, 2.895, 1.280,-3.053, 2.735, PHS= 0.262,-1.410, 0.451, RAW= 155.3,   7.9, CAL= 154.8,   8.3, ROT= 355.2,  -8.3

2025-08-21T07:02:59.252Z,1755759779.252 [DAT](INFO): DAT read: Bearing 270.6,  -4.4 (Local)

2025-08-21T07:02:59.252Z,1755759779.252 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.6,  -4.4 (Local)

2025-08-21T07:02:59.254Z,1755759779.254 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m  (Round-trip  26.7 ms) speed  0.4 m/s

2025-08-21T07:02:59.255Z,1755759779.255 [DAT](INFO): DAT read: user:2068>

2025-08-21T07:02:59.255Z,1755759779.255 [DAT](INFO): DAT read: Tx time:07:02:58.5212

2025-08-21T07:02:59.256Z,1755759779.256 [DAT](INFO): Ping request sent.
2025-08-21T07:02:59.256Z,1755759779.256 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:02:59.256Z,1755759779.256 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:02:59.257Z,1755759779.257 [DAT](INFO): direction in FSK: [0.986055,-0.082801,0.144356]
2025-08-21T07:02:59.257Z,1755759779.257 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:59.258Z,1755759779.258 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:59.269Z,1755759779.269 [DAT](INFO): publishing transmit ping time
2025-08-21T07:02:59.269Z,1755759779.269 [DAT](INFO): publishing direction and range info
2025-08-21T07:02:59.381Z,1755759779.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.000000 m,
      deltaT: 3.527396 s,
      deltaX: -1.799999 m,
      approachRate: -0.510291 m/s,
      rangeRepo size: 4

2025-08-21T07:02:59.395Z,1755759779.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.890348 m,
      bearing: 91.376394 deg,
      lat: 36.779373 deg,
      lon: -121.859407 deg,
      deltaT: 3.527396 s,
      deltaX: -1.790167 m,
      approachRate: -0.507504 m/s,
      posRepo size: 4

2025-08-21T07:02:59.396Z,1755759779.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m.
2025-08-21T07:02:59.399Z,1755759779.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.890348 m,
      nav range: 19.639277 m,
      bearing: 95.298596 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.086707 deg/s,
      cmd heading: 94.438498 deg,
      new cmd heading: 94.304600 deg.

2025-08-21T07:02:59.404Z,1755759779.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.645926 target range: 19.890348 and range: 20.00 m.
2025-08-21T07:02:59.745Z,1755759779.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m.
2025-08-21T07:02:59.749Z,1755759779.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.890348 m,
      nav range: 19.440905 m,
      bearing: 95.243934 deg,
      approach rate: -0.543224 m/s,
      LOS rate: -0.151214 deg/s,
      cmd heading: 94.304599 deg,
      new cmd heading: 94.138941 deg.

2025-08-21T07:02:59.750Z,1755759779.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.643034 target range: 19.890348 and range: 20.00 m.
2025-08-21T07:03:00.178Z,1755759780.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m.
2025-08-21T07:03:00.181Z,1755759780.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.890348 m,
      nav range: 19.211327 m,
      bearing: 95.178490 deg,
      approach rate: -0.530848 m/s,
      LOS rate: -0.153132 deg/s,
      cmd heading: 94.138940 deg,
      new cmd heading: 93.940264 deg.

2025-08-21T07:03:00.182Z,1755759780.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639567 target range: 19.890348 and range: 20.00 m.
2025-08-21T07:03:00.542Z,1755759780.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m.
2025-08-21T07:03:00.545Z,1755759780.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.890348 m,
      nav range: 19.020126 m,
      bearing: 95.122847 deg,
      approach rate: -0.524536 m/s,
      LOS rate: -0.154187 deg/s,
      cmd heading: 93.940264 deg,
      new cmd heading: 93.771655 deg.

2025-08-21T07:03:00.546Z,1755759780.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636624 target range: 19.890348 and range: 20.00 m.
2025-08-21T07:03:00.941Z,1755759780.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:00.959Z,1755759780.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m.
2025-08-21T07:03:00.962Z,1755759780.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.890348 m,
      nav range: 18.812840 m,
      bearing: 95.061626 deg,
      approach rate: -0.517509 m/s,
      LOS rate: -0.154527 deg/s,
      cmd heading: 93.771653 deg,
      new cmd heading: 93.585969 deg.

2025-08-21T07:03:00.963Z,1755759780.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633383 target range: 19.890348 and range: 20.00 m.
2025-08-21T07:03:01.009Z,1755759781.009 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:01.009Z,1755759781.009 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:01.010Z,1755759781.010 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:01.260Z,1755759781.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004490
2025-08-21T07:03:01.389Z,1755759781.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m.
2025-08-21T07:03:01.393Z,1755759781.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.890348 m,
      nav range: 18.583416 m,
      bearing: 94.990286 deg,
      approach rate: -0.514249 m/s,
      LOS rate: -0.161881 deg/s,
      cmd heading: 93.585968 deg,
      new cmd heading: 93.369307 deg.

2025-08-21T07:03:01.394Z,1755759781.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629602 target range: 19.890348 and range: 20.00 m.
2025-08-21T07:03:01.513Z,1755759781.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257379
2025-08-21T07:03:01.753Z,1755759781.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m.
2025-08-21T07:03:01.756Z,1755759781.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.890348 m,
      nav range: 18.390739 m,
      bearing: 94.928997 deg,
      approach rate: -0.529676 m/s,
      LOS rate: -0.170250 deg/s,
      cmd heading: 93.369308 deg,
      new cmd heading: 93.183516 deg.

2025-08-21T07:03:01.757Z,1755759781.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.626359 target range: 19.890348 and range: 20.00 m.
2025-08-21T07:03:01.764Z,1755759781.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508540
2025-08-21T07:03:02.017Z,1755759782.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761307
2025-08-21T07:03:02.140Z,1755759782.140 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:03:02.211Z,1755759782.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m.
2025-08-21T07:03:02.214Z,1755759782.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.890348 m,
      nav range: 18.157473 m,
      bearing: 94.848923 deg,
      approach rate: -0.522632 m/s,
      LOS rate: -0.181711 deg/s,
      cmd heading: 93.183513 deg,
      new cmd heading: 92.940205 deg.

2025-08-21T07:03:02.220Z,1755759782.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.622113 target range: 19.890348 and range: 20.00 m.
2025-08-21T07:03:02.270Z,1755759782.270 [DAT](INFO): DAT read: Rx Time:07:03:00.9498

2025-08-21T07:03:02.270Z,1755759782.270 [DAT](INFO): Rx dataTimestamp_ set to:1755759782.269760
2025-08-21T07:03:02.271Z,1755759782.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015167
2025-08-21T07:03:02.520Z,1755759782.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264676
2025-08-21T07:03:02.583Z,1755759782.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m.
2025-08-21T07:03:02.585Z,1755759782.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.890348 m,
      nav range: 17.965206 m,
      bearing: 94.781718 deg,
      approach rate: -0.501512 m/s,
      LOS rate: -0.177174 deg/s,
      cmd heading: 92.940208 deg,
      new cmd heading: 92.736437 deg.

2025-08-21T07:03:02.586Z,1755759782.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.618556 target range: 19.890348 and range: 20.00 m.
2025-08-21T07:03:02.779Z,1755759782.779 [DAT](INFO): DAT read: 07:03:00.9498 LVL= 22560, 29329, 20066, 29411, AGC= 55, IDX= 422,-0.11, 0.425,-1.181, 0.804, 0.277, PHS= 0.251,-1.413, 0.483, RAW= 156.5,   7.6, CAL= 156.0,   7.9, ROT= 354.0,  -7.9

2025-08-21T07:03:02.780Z,1755759782.780 [DAT](INFO): got valid direction response:
 07:03:00.9498 LVL= 22560, 29329, 20066, 29411, AGC= 55, IDX= 422,-0.11, 0.425,-1.181, 0.804, 0.277, PHS= 0.251,-1.413, 0.483, RAW= 156.5,   7.6, CAL= 156.0,   7.9, ROT= 354.0,  -7.9

2025-08-21T07:03:02.782Z,1755759782.782 [DAT](INFO): DAT read: Bearing 270.0,  -5.6 (Local)

2025-08-21T07:03:02.782Z,1755759782.782 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.0,  -5.6 (Local)

2025-08-21T07:03:02.793Z,1755759782.793 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m  (Round-trip  24.4 ms) speed  0.4 m/s

2025-08-21T07:03:02.794Z,1755759782.794 [DAT](INFO): DAT read: user:2069>

2025-08-21T07:03:02.807Z,1755759782.807 [DAT](INFO): DAT read: Tx time:07:03:02.0712

2025-08-21T07:03:02.808Z,1755759782.808 [DAT](INFO): Ping request sent.
2025-08-21T07:03:02.808Z,1755759782.808 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:02.808Z,1755759782.808 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:02.809Z,1755759782.809 [DAT](INFO): direction in FSK: [0.985083,-0.103537,0.137445]
2025-08-21T07:03:02.809Z,1755759782.809 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:02.810Z,1755759782.810 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:02.831Z,1755759782.831 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:02.843Z,1755759782.843 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:03.000Z,1755759783.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.299999 m,
      deltaT: 3.528886 s,
      deltaX: -1.700001 m,
      approachRate: -0.481739 m/s,
      rangeRepo size: 4

2025-08-21T07:03:03.002Z,1755759783.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.199711 m,
      bearing: 90.100964 deg,
      lat: 36.779381 deg,
      lon: -121.859406 deg,
      deltaT: 3.528886 s,
      deltaX: -1.690638 m,
      approachRate: -0.479085 m/s,
      posRepo size: 4

2025-08-21T07:03:03.003Z,1755759783.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T07:03:03.010Z,1755759783.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.199711 m,
      nav range: 17.827570 m,
      bearing: 91.885366 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.177174 deg/s,
      cmd heading: 92.736436 deg,
      new cmd heading: 92.517043 deg.

2025-08-21T07:03:03.011Z,1755759783.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.614727 target range: 18.199711 and range: 18.30 m.
2025-08-21T07:03:03.145Z,1755759783.145 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:03:03.406Z,1755759783.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:03.409Z,1755759783.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T07:03:03.412Z,1755759783.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.199711 m,
      nav range: 17.603485 m,
      bearing: 91.771956 deg,
      approach rate: -0.542027 m/s,
      LOS rate: -0.277812 deg/s,
      cmd heading: 92.517043 deg,
      new cmd heading: 92.172488 deg.

2025-08-21T07:03:03.413Z,1755759783.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608713 target range: 18.199711 and range: 18.30 m.
2025-08-21T07:03:03.528Z,1755759783.528 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:03.528Z,1755759783.528 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:03.529Z,1755759783.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:03.773Z,1755759783.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T07:03:03.776Z,1755759783.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.199711 m,
      nav range: 17.413025 m,
      bearing: 91.674061 deg,
      approach rate: -0.522869 m/s,
      LOS rate: -0.271691 deg/s,
      cmd heading: 92.172488 deg,
      new cmd heading: 91.875592 deg.

2025-08-21T07:03:03.777Z,1755759783.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.603532 target range: 18.199711 and range: 18.30 m.
2025-08-21T07:03:03.780Z,1755759783.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972607
2025-08-21T07:03:04.032Z,1755759784.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.224503
2025-08-21T07:03:04.216Z,1755759784.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T07:03:04.219Z,1755759784.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.199711 m,
      nav range: 17.194769 m,
      bearing: 91.563415 deg,
      approach rate: -0.492603 m/s,
      LOS rate: -0.252897 deg/s,
      cmd heading: 91.875593 deg,
      new cmd heading: 91.539445 deg.

2025-08-21T07:03:04.220Z,1755759784.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.597665 target range: 18.199711 and range: 18.30 m.
2025-08-21T07:03:04.285Z,1755759784.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.476865
2025-08-21T07:03:04.536Z,1755759784.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.728484
2025-08-21T07:03:04.595Z,1755759784.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T07:03:04.598Z,1755759784.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.199711 m,
      nav range: 17.015818 m,
      bearing: 91.472262 deg,
      approach rate: -0.492861 m/s,
      LOS rate: -0.253690 deg/s,
      cmd heading: 91.539445 deg,
      new cmd heading: 91.263113 deg.

2025-08-21T07:03:04.599Z,1755759784.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.592842 target range: 18.199711 and range: 18.30 m.
2025-08-21T07:03:04.789Z,1755759784.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980848
2025-08-21T07:03:04.993Z,1755759784.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T07:03:04.996Z,1755759784.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.199711 m,
      nav range: 16.811939 m,
      bearing: 91.367952 deg,
      approach rate: -0.492626 m/s,
      LOS rate: -0.255098 deg/s,
      cmd heading: 91.263109 deg,
      new cmd heading: 90.946389 deg.

2025-08-21T07:03:04.997Z,1755759784.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.587314 target range: 18.199711 and range: 18.30 m.
2025-08-21T07:03:05.042Z,1755759785.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233833
2025-08-21T07:03:05.294Z,1755759785.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486157
2025-08-21T07:03:05.415Z,1755759785.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:05.417Z,1755759785.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T07:03:05.420Z,1755759785.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.199711 m,
      nav range: 16.603287 m,
      bearing: 91.256241 deg,
      approach rate: -0.492264 m/s,
      LOS rate: -0.266865 deg/s,
      cmd heading: 90.946387 deg,
      new cmd heading: 90.607048 deg.

2025-08-21T07:03:05.421Z,1755759785.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.581391 target range: 18.199711 and range: 18.30 m.
2025-08-21T07:03:05.545Z,1755759785.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736984
2025-08-21T07:03:05.796Z,1755759785.796 [DAT](INFO): DAT read: Rx Time:07:03:04.4974

2025-08-21T07:03:05.797Z,1755759785.797 [DAT](INFO): Rx dataTimestamp_ set to:1755759785.796562
2025-08-21T07:03:05.797Z,1755759785.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989700
2025-08-21T07:03:05.808Z,1755759785.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T07:03:05.811Z,1755759785.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.199711 m,
      nav range: 16.418139 m,
      bearing: 91.157463 deg,
      approach rate: -0.473270 m/s,
      LOS rate: -0.255341 deg/s,
      cmd heading: 90.607049 deg,
      new cmd heading: 90.307375 deg.

2025-08-21T07:03:05.816Z,1755759785.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.576161 target range: 18.199711 and range: 18.30 m.
2025-08-21T07:03:06.048Z,1755759786.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240642
2025-08-21T07:03:06.264Z,1755759786.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m.
2025-08-21T07:03:06.266Z,1755759786.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.199711 m,
      nav range: 16.195599 m,
      bearing: 91.021918 deg,
      approach rate: -0.493214 m/s,
      LOS rate: -0.304534 deg/s,
      cmd heading: 90.307375 deg,
      new cmd heading: 89.895160 deg.

2025-08-21T07:03:06.288Z,1755759786.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.568967 target range: 18.199711 and range: 18.30 m.
2025-08-21T07:03:06.306Z,1755759786.306 [DAT](INFO): DAT read: 07:03:04.4974 LVL= 23136, 30385, 20642, 31731, AGC= 53, IDX= 414,-0.42,-1.225,-2.848,-0.809,-1.330, PHS= 0.206,-1.473, 0.477, RAW= 157.3,   8.7, CAL= 157.0,   9.2, ROT= 353.0,  -9.2

2025-08-21T07:03:06.307Z,1755759786.307 [DAT](INFO): got valid direction response:
 07:03:04.4974 LVL= 23136, 30385, 20642, 31731, AGC= 53, IDX= 414,-0.42,-1.225,-2.848,-0.809,-1.330, PHS= 0.206,-1.473, 0.477, RAW= 157.3,   8.7, CAL= 157.0,   9.2, ROT= 353.0,  -9.2

2025-08-21T07:03:06.308Z,1755759786.308 [DAT](INFO): DAT read: Bearing 270.4,  -6.8 (Local)

2025-08-21T07:03:06.309Z,1755759786.309 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.4,  -6.8 (Local)

2025-08-21T07:03:06.310Z,1755759786.310 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m  (Round-trip  22.0 ms) speed  0.4 m/s

2025-08-21T07:03:06.311Z,1755759786.311 [DAT](INFO): DAT read: user:2070>

2025-08-21T07:03:06.312Z,1755759786.312 [DAT](INFO): DAT read: Tx time:07:03:05.6212

2025-08-21T07:03:06.312Z,1755759786.312 [DAT](INFO): Ping request sent.
2025-08-21T07:03:06.312Z,1755759786.312 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:06.312Z,1755759786.312 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:06.313Z,1755759786.313 [DAT](INFO): direction in FSK: [0.979778,-0.120302,0.159881]
2025-08-21T07:03:06.314Z,1755759786.314 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:06.314Z,1755759786.314 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:06.322Z,1755759786.322 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:06.322Z,1755759786.322 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:06.668Z,1755759786.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 3.527411 s,
      deltaX: -1.799999 m,
      approachRate: -0.510289 m/s,
      rangeRepo size: 4

2025-08-21T07:03:06.670Z,1755759786.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.409500 m,
      bearing: 87.823591 deg,
      lat: 36.779385 deg,
      lon: -121.859404 deg,
      deltaT: 3.527411 s,
      deltaX: -1.790211 m,
      approachRate: -0.507514 m/s,
      posRepo size: 4

2025-08-21T07:03:06.671Z,1755759786.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:03:06.677Z,1755759786.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.409500 m,
      nav range: 16.149815 m,
      bearing: 89.229522 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.304534 deg/s,
      cmd heading: 89.895159 deg,
      new cmd heading: 89.526212 deg.

2025-08-21T07:03:06.678Z,1755759786.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562527 target range: 16.409500 and range: 16.50 m.
2025-08-21T07:03:07.047Z,1755759787.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:03:07.050Z,1755759787.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.409500 m,
      nav range: 15.960264 m,
      bearing: 89.094905 deg,
      approach rate: -0.493910 m/s,
      LOS rate: -0.354936 deg/s,
      cmd heading: 89.526213 deg,
      new cmd heading: 89.117573 deg.

2025-08-21T07:03:07.051Z,1755759787.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555395 target range: 16.409500 and range: 16.50 m.
2025-08-21T07:03:07.463Z,1755759787.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:07.465Z,1755759787.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:03:07.468Z,1755759787.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.409500 m,
      nav range: 15.763480 m,
      bearing: 88.969826 deg,
      approach rate: -0.470788 m/s,
      LOS rate: -0.302975 deg/s,
      cmd heading: 89.117576 deg,
      new cmd heading: 88.737661 deg.

2025-08-21T07:03:07.469Z,1755759787.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548764 target range: 16.409500 and range: 16.50 m.
2025-08-21T07:03:07.560Z,1755759787.560 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:07.560Z,1755759787.560 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:07.561Z,1755759787.561 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:07.812Z,1755759787.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500039
2025-08-21T07:03:07.869Z,1755759787.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:03:07.872Z,1755759787.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.409500 m,
      nav range: 15.576461 m,
      bearing: 88.851313 deg,
      approach rate: -0.462928 m/s,
      LOS rate: -0.296877 deg/s,
      cmd heading: 88.737661 deg,
      new cmd heading: 88.377858 deg.

2025-08-21T07:03:07.873Z,1755759787.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542485 target range: 16.409500 and range: 16.50 m.
2025-08-21T07:03:08.064Z,1755759788.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752186
2025-08-21T07:03:08.276Z,1755759788.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:03:08.278Z,1755759788.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.409500 m,
      nav range: 15.384867 m,
      bearing: 88.731396 deg,
      approach rate: -0.471279 m/s,
      LOS rate: -0.298642 deg/s,
      cmd heading: 88.377860 deg,
      new cmd heading: 88.013634 deg.

2025-08-21T07:03:08.280Z,1755759788.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536128 target range: 16.409500 and range: 16.50 m.
2025-08-21T07:03:08.317Z,1755759788.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004848
2025-08-21T07:03:08.568Z,1755759788.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256050
2025-08-21T07:03:08.653Z,1755759788.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:03:08.656Z,1755759788.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.409500 m,
      nav range: 15.206559 m,
      bearing: 88.620266 deg,
      approach rate: -0.472257 m/s,
      LOS rate: -0.297785 deg/s,
      cmd heading: 88.013633 deg,
      new cmd heading: 87.676337 deg.

2025-08-21T07:03:08.657Z,1755759788.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.530241 target range: 16.409500 and range: 16.50 m.
2025-08-21T07:03:08.820Z,1755759788.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508160
2025-08-21T07:03:09.072Z,1755759789.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760125
2025-08-21T07:03:09.074Z,1755759789.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:03:09.077Z,1755759789.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.409500 m,
      nav range: 15.018213 m,
      bearing: 88.503692 deg,
      approach rate: -0.446894 m/s,
      LOS rate: -0.280067 deg/s,
      cmd heading: 87.676338 deg,
      new cmd heading: 87.322236 deg.

2025-08-21T07:03:09.078Z,1755759789.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.524060 target range: 16.409500 and range: 16.50 m.
2025-08-21T07:03:09.326Z,1755759789.326 [DAT](INFO): DAT read: Rx Time:07:03:08.0450

2025-08-21T07:03:09.326Z,1755759789.326 [DAT](INFO): Rx dataTimestamp_ set to:1755759789.326062
2025-08-21T07:03:09.327Z,1755759789.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015240
2025-08-21T07:03:09.482Z,1755759789.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:09.484Z,1755759789.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:03:09.487Z,1755759789.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.409500 m,
      nav range: 14.813435 m,
      bearing: 88.376248 deg,
      approach rate: -0.500060 m/s,
      LOS rate: -0.315513 deg/s,
      cmd heading: 87.322234 deg,
      new cmd heading: 86.934624 deg.

2025-08-21T07:03:09.488Z,1755759789.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.517295 target range: 16.409500 and range: 16.50 m.
2025-08-21T07:03:09.577Z,1755759789.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264454
2025-08-21T07:03:09.841Z,1755759789.841 [DAT](INFO): DAT read: 07:03:08.0450 LVL= 21776, 30913, 19890, 32675, AGC= 54, IDX= 421,-0.16, 0.658,-0.997, 0.999, 0.518, PHS= 0.241,-1.470, 0.436, RAW= 155.3,   8.8, CAL= 155.0,   9.3, ROT= 355.0,  -9.3

2025-08-21T07:03:09.849Z,1755759789.849 [DAT](INFO): got valid direction response:
 07:03:08.0450 LVL= 21776, 30913, 19890, 32675, AGC= 54, IDX= 421,-0.16, 0.658,-0.997, 0.999, 0.518, PHS= 0.241,-1.470, 0.436, RAW= 155.3,   8.8, CAL= 155.0,   9.3, ROT= 355.0,  -9.3

2025-08-21T07:03:09.850Z,1755759789.850 [DAT](INFO): DAT read: Bearing 268.7,  -4.8 (Local)

2025-08-21T07:03:09.851Z,1755759789.851 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.7,  -4.8 (Local)

2025-08-21T07:03:09.853Z,1755759789.853 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m  (Round-trip  19.6 ms) speed  0.4 m/s

2025-08-21T07:03:09.855Z,1755759789.855 [DAT](INFO): DAT read: user:2071>

2025-08-21T07:03:09.872Z,1755759789.872 [DAT](INFO): DAT read: Tx time:07:03:09.1712

2025-08-21T07:03:09.872Z,1755759789.872 [DAT](INFO): Ping request sent.
2025-08-21T07:03:09.872Z,1755759789.872 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:09.873Z,1755759789.873 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:09.874Z,1755759789.874 [DAT](INFO): direction in FSK: [0.983100,-0.086010,0.161604]
2025-08-21T07:03:09.874Z,1755759789.874 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:09.874Z,1755759789.874 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:09.885Z,1755759789.885 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:09.886Z,1755759789.886 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:09.980Z,1755759789.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.700000 m,
      deltaT: 3.527656 s,
      deltaX: -1.800000 m,
      approachRate: -0.510254 m/s,
      rangeRepo size: 4

2025-08-21T07:03:09.982Z,1755759789.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.619292 m,
      bearing: 87.703524 deg,
      lat: 36.779386 deg,
      lon: -121.859404 deg,
      deltaT: 3.527656 s,
      deltaX: -1.790208 m,
      approachRate: -0.507478 m/s,
      posRepo size: 4

2025-08-21T07:03:09.991Z,1755759789.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m.
2025-08-21T07:03:09.994Z,1755759789.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.619292 m,
      nav range: 14.599722 m,
      bearing: 87.914177 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.315513 deg/s,
      cmd heading: 86.934620 deg,
      new cmd heading: 86.484764 deg.

2025-08-21T07:03:09.995Z,1755759789.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509444 target range: 14.619292 and range: 14.70 m.
2025-08-21T07:03:10.381Z,1755759790.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m.
2025-08-21T07:03:10.383Z,1755759790.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.619292 m,
      nav range: 14.377868 m,
      bearing: 87.786172 deg,
      approach rate: -0.526561 m/s,
      LOS rate: -0.308502 deg/s,
      cmd heading: 86.484764 deg,
      new cmd heading: 86.094830 deg.

2025-08-21T07:03:10.384Z,1755759790.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.502638 target range: 14.619292 and range: 14.70 m.
2025-08-21T07:03:10.752Z,1755759790.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m.
2025-08-21T07:03:10.754Z,1755759790.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.619292 m,
      nav range: 14.199060 m,
      bearing: 87.683663 deg,
      approach rate: -0.487483 m/s,
      LOS rate: -0.282989 deg/s,
      cmd heading: 86.094828 deg,
      new cmd heading: 85.783433 deg.

2025-08-21T07:03:10.760Z,1755759790.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.497203 target range: 14.619292 and range: 14.70 m.
2025-08-21T07:03:11.153Z,1755759791.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m.
2025-08-21T07:03:11.157Z,1755759791.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.619292 m,
      nav range: 13.996541 m,
      bearing: 87.568377 deg,
      approach rate: -0.501250 m/s,
      LOS rate: -0.289469 deg/s,
      cmd heading: 85.783433 deg,
      new cmd heading: 85.432575 deg.

2025-08-21T07:03:11.159Z,1755759791.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.491080 target range: 14.619292 and range: 14.70 m.
2025-08-21T07:03:11.595Z,1755759791.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:11.597Z,1755759791.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m.
2025-08-21T07:03:11.600Z,1755759791.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.619292 m,
      nav range: 13.776025 m,
      bearing: 87.447459 deg,
      approach rate: -0.494725 m/s,
      LOS rate: -0.275621 deg/s,
      cmd heading: 85.432573 deg,
      new cmd heading: 85.064017 deg.

2025-08-21T07:03:11.601Z,1755759791.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.484647 target range: 14.619292 and range: 14.70 m.
2025-08-21T07:03:11.845Z,1755759791.845 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:11.846Z,1755759791.846 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:11.846Z,1755759791.846 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:11.971Z,1755759791.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m.
2025-08-21T07:03:11.974Z,1755759791.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.619292 m,
      nav range: 13.598653 m,
      bearing: 87.355427 deg,
      approach rate: -0.495493 m/s,
      LOS rate: -0.260447 deg/s,
      cmd heading: 85.064016 deg,
      new cmd heading: 84.784321 deg.

2025-08-21T07:03:11.975Z,1755759791.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.479766 target range: 14.619292 and range: 14.70 m.
2025-08-21T07:03:12.100Z,1755759792.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227476
2025-08-21T07:03:12.349Z,1755759792.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477079
2025-08-21T07:03:12.406Z,1755759792.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m.
2025-08-21T07:03:12.409Z,1755759792.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.619292 m,
      nav range: 13.371839 m,
      bearing: 87.246181 deg,
      approach rate: -0.502863 m/s,
      LOS rate: -0.246313 deg/s,
      cmd heading: 84.784320 deg,
      new cmd heading: 84.451027 deg.

2025-08-21T07:03:12.410Z,1755759792.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.473948 target range: 14.619292 and range: 14.70 m.
2025-08-21T07:03:12.601Z,1755759792.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728218
2025-08-21T07:03:12.780Z,1755759792.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m.
2025-08-21T07:03:12.783Z,1755759792.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.619292 m,
      nav range: 13.191185 m,
      bearing: 87.160593 deg,
      approach rate: -0.482738 m/s,
      LOS rate: -0.231840 deg/s,
      cmd heading: 84.451027 deg,
      new cmd heading: 84.190747 deg.

2025-08-21T07:03:12.784Z,1755759792.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.469406 target range: 14.619292 and range: 14.70 m.
2025-08-21T07:03:12.854Z,1755759792.854 [DAT](INFO): DAT read: Rx Time:07:03:11.5927

2025-08-21T07:03:12.855Z,1755759792.855 [DAT](INFO): Rx dataTimestamp_ set to:1755759792.854559
2025-08-21T07:03:12.856Z,1755759792.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983347
2025-08-21T07:03:13.104Z,1755759793.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231879
2025-08-21T07:03:13.230Z,1755759793.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m.
2025-08-21T07:03:13.262Z,1755759793.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.619292 m,
      nav range: 12.978869 m,
      bearing: 87.061968 deg,
      approach rate: -0.479136 m/s,
      LOS rate: -0.226209 deg/s,
      cmd heading: 84.190749 deg,
      new cmd heading: 83.890037 deg.

2025-08-21T07:03:13.276Z,1755759793.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.464157 target range: 14.619292 and range: 14.70 m.
2025-08-21T07:03:13.366Z,1755759793.366 [DAT](INFO): DAT read: 07:03:11.5927 LVL= 21088, 29073, 21682, 29091, AGC= 53, IDX= 414, 0.37, 0.397,-1.370, 0.540, 0.178, PHS= 0.321,-1.504, 0.318, RAW= 149.9,   9.5, CAL= 149.6,  10.3, ROT=   0.4, -10.3

2025-08-21T07:03:13.368Z,1755759793.368 [DAT](INFO): got valid direction response:
 07:03:11.5927 LVL= 21088, 29073, 21682, 29091, AGC= 53, IDX= 414, 0.37, 0.397,-1.370, 0.540, 0.178, PHS= 0.321,-1.504, 0.318, RAW= 149.9,   9.5, CAL= 149.6,  10.3, ROT=   0.4, -10.3

2025-08-21T07:03:13.370Z,1755759793.370 [DAT](INFO): DAT read: Bearing 267.4,   0.7 (Local)

2025-08-21T07:03:13.370Z,1755759793.370 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.4,   0.7 (Local)

2025-08-21T07:03:13.373Z,1755759793.373 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m  (Round-trip  17.3 ms) speed  0.4 m/s

2025-08-21T07:03:13.374Z,1755759793.374 [DAT](INFO): DAT read: user:2072>

2025-08-21T07:03:13.375Z,1755759793.375 [DAT](INFO): DAT read: Tx time:07:03:12.7212

2025-08-21T07:03:13.376Z,1755759793.376 [DAT](INFO): Ping request sent.
2025-08-21T07:03:13.376Z,1755759793.376 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:13.376Z,1755759793.376 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:13.378Z,1755759793.378 [DAT](INFO): direction in FSK: [0.983861,0.006869,0.178802]
2025-08-21T07:03:13.378Z,1755759793.378 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:13.379Z,1755759793.379 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:13.389Z,1755759793.389 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:13.389Z,1755759793.389 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:13.654Z,1755759793.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 3.528661 s,
      deltaX: -1.800000 m,
      approachRate: -0.510109 m/s,
      rangeRepo size: 4

2025-08-21T07:03:13.658Z,1755759793.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.829121 m,
      bearing: 90.910151 deg,
      lat: 36.779386 deg,
      lon: -121.859406 deg,
      deltaT: 3.528661 s,
      deltaX: -1.790172 m,
      approachRate: -0.507323 m/s,
      posRepo size: 4

2025-08-21T07:03:13.663Z,1755759793.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:03:13.666Z,1755759793.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.829121 m,
      nav range: 12.621790 m,
      bearing: 86.936218 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.226209 deg/s,
      cmd heading: 83.890036 deg,
      new cmd heading: 83.598024 deg.

2025-08-21T07:03:13.667Z,1755759793.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.459061 target range: 12.829121 and range: 12.90 m.
2025-08-21T07:03:14.005Z,1755759794.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:14.007Z,1755759794.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:03:14.010Z,1755759794.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.829121 m,
      nav range: 12.437432 m,
      bearing: 86.854783 deg,
      approach rate: -0.521558 m/s,
      LOS rate: -0.233800 deg/s,
      cmd heading: 83.598025 deg,
      new cmd heading: 83.350100 deg.

2025-08-21T07:03:14.011Z,1755759794.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.454734 target range: 12.829121 and range: 12.90 m.
2025-08-21T07:03:14.112Z,1755759794.112 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:14.112Z,1755759794.112 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:14.112Z,1755759794.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:14.364Z,1755759794.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988525
2025-08-21T07:03:14.425Z,1755759794.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:03:14.428Z,1755759794.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.829121 m,
      nav range: 12.228628 m,
      bearing: 86.797065 deg,
      approach rate: -0.500284 m/s,
      LOS rate: -0.140650 deg/s,
      cmd heading: 83.350103 deg,
      new cmd heading: 83.173993 deg.

2025-08-21T07:03:14.429Z,1755759794.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.451660 target range: 12.829121 and range: 12.90 m.
2025-08-21T07:03:14.619Z,1755759794.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242630
2025-08-21T07:03:14.788Z,1755759794.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:03:14.791Z,1755759794.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.829121 m,
      nav range: 12.046642 m,
      bearing: 86.750127 deg,
      approach rate: -0.500871 m/s,
      LOS rate: -0.131137 deg/s,
      cmd heading: 83.173993 deg,
      new cmd heading: 83.031052 deg.

2025-08-21T07:03:14.792Z,1755759794.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.449165 target range: 12.829121 and range: 12.90 m.
2025-08-21T07:03:14.869Z,1755759794.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493374
2025-08-21T07:03:15.120Z,1755759795.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744415
2025-08-21T07:03:15.201Z,1755759795.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:03:15.204Z,1755759795.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.829121 m,
      nav range: 11.839918 m,
      bearing: 86.700515 deg,
      approach rate: -0.500537 m/s,
      LOS rate: -0.122222 deg/s,
      cmd heading: 83.031051 deg,
      new cmd heading: 82.879617 deg.

2025-08-21T07:03:15.205Z,1755759795.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.446522 target range: 12.829121 and range: 12.90 m.
2025-08-21T07:03:15.372Z,1755759795.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996532
2025-08-21T07:03:15.624Z,1755759795.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248596
2025-08-21T07:03:15.640Z,1755759795.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:03:15.643Z,1755759795.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.829121 m,
      nav range: 11.638064 m,
      bearing: 86.657838 deg,
      approach rate: -0.459878 m/s,
      LOS rate: -0.098915 deg/s,
      cmd heading: 82.879619 deg,
      new cmd heading: 82.749370 deg.

2025-08-21T07:03:15.648Z,1755759795.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.444249 target range: 12.829121 and range: 12.90 m.
2025-08-21T07:03:15.877Z,1755759795.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500784
2025-08-21T07:03:16.013Z,1755759796.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:16.016Z,1755759796.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:03:16.018Z,1755759796.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.829121 m,
      nav range: 11.451075 m,
      bearing: 86.616960 deg,
      approach rate: -0.498058 m/s,
      LOS rate: -0.110658 deg/s,
      cmd heading: 82.749367 deg,
      new cmd heading: 82.624731 deg.

2025-08-21T07:03:16.047Z,1755759796.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.442074 target range: 12.829121 and range: 12.90 m.
2025-08-21T07:03:16.129Z,1755759796.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753465
2025-08-21T07:03:16.380Z,1755759796.380 [DAT](INFO): DAT read: Rx Time:07:03:15.1404

2025-08-21T07:03:16.381Z,1755759796.381 [DAT](INFO): Rx dataTimestamp_ set to:1755759796.380575
2025-08-21T07:03:16.381Z,1755759796.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005660
2025-08-21T07:03:16.451Z,1755759796.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:03:16.457Z,1755759796.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.829121 m,
      nav range: 11.255532 m,
      bearing: 86.582326 deg,
      approach rate: -0.449271 m/s,
      LOS rate: -0.080956 deg/s,
      cmd heading: 82.624730 deg,
      new cmd heading: 82.519023 deg.

2025-08-21T07:03:16.458Z,1755759796.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440229 target range: 12.829121 and range: 12.90 m.
2025-08-21T07:03:16.632Z,1755759796.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256406
2025-08-21T07:03:16.882Z,1755759796.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:03:16.919Z,1755759796.919 [DAT](INFO): DAT read: 07:03:15.1404 LVL= 21200, 31889, 21298, 32755, AGC= 52, IDX= 423,-0.34, 1.507,-0.348, 1.343, 1.196, PHS= 0.413,-1.499, 0.103, RAW= 141.3,  11.1, CAL= 140.7,  12.0, ROT=   9.3, -12.0

2025-08-21T07:03:16.920Z,1755759796.920 [DAT](INFO): got valid direction response:
 07:03:15.1404 LVL= 21200, 31889, 21298, 32755, AGC= 52, IDX= 423,-0.34, 1.507,-0.348, 1.343, 1.196, PHS= 0.413,-1.499, 0.103, RAW= 141.3,  11.1, CAL= 140.7,  12.0, ROT=   9.3, -12.0

2025-08-21T07:03:16.921Z,1755759796.921 [DAT](INFO): DAT read: Bearing 266.4,   9.6 (Local)

2025-08-21T07:03:16.922Z,1755759796.922 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.4,   9.6 (Local)

2025-08-21T07:03:16.923Z,1755759796.923 [DAT](INFO): DAT read: Range 11 to 50 : 11.2 m  (Round-trip  15.0 ms) speed  0.4 m/s

2025-08-21T07:03:16.924Z,1755759796.924 [DAT](INFO): DAT read: user:2073>

2025-08-21T07:03:16.925Z,1755759796.925 [DAT](INFO): DAT read: Tx time:07:03:16.2712

2025-08-21T07:03:16.925Z,1755759796.925 [DAT](INFO): Ping request sent.
2025-08-21T07:03:16.925Z,1755759796.925 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:16.925Z,1755759796.925 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:16.926Z,1755759796.926 [DAT](INFO): direction in FSK: [0.965291,0.158072,0.207912]
2025-08-21T07:03:16.927Z,1755759796.927 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:16.933Z,1755759796.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.829121 m,
      nav range: 11.052497 m,
      bearing: 86.551088 deg,
      approach rate: -0.470878 m/s,
      LOS rate: -0.073777 deg/s,
      cmd heading: 82.519026 deg,
      new cmd heading: 82.423591 deg.

2025-08-21T07:03:16.934Z,1755759796.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.438563 target range: 12.829121 and range: 12.90 m.
2025-08-21T07:03:16.955Z,1755759796.955 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:16.958Z,1755759796.958 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:16.958Z,1755759796.958 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:17.264Z,1755759797.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.200000 m,
      deltaT: 3.527475 s,
      deltaX: -1.700000 m,
      approachRate: -0.481931 m/s,
      rangeRepo size: 4

2025-08-21T07:03:17.271Z,1755759797.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.138467 m,
      bearing: 96.428181 deg,
      lat: 36.779386 deg,
      lon: -121.859406 deg,
      deltaT: 3.527475 s,
      deltaX: -1.690654 m,
      approachRate: -0.479282 m/s,
      posRepo size: 4

2025-08-21T07:03:17.274Z,1755759797.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.14 m.
2025-08-21T07:03:17.329Z,1755759797.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.138467 m,
      nav range: 10.881105 m,
      bearing: 86.529586 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.073777 deg/s,
      cmd heading: 82.423588 deg,
      new cmd heading: 82.339788 deg.

2025-08-21T07:03:17.336Z,1755759797.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.437100 target range: 11.138467 and range: 11.20 m.
2025-08-21T07:03:17.734Z,1755759797.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.14 m.
2025-08-21T07:03:17.744Z,1755759797.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.138467 m,
      nav range: 10.666501 m,
      bearing: 86.494451 deg,
      approach rate: -0.453464 m/s,
      LOS rate: -0.075735 deg/s,
      cmd heading: 82.339788 deg,
      new cmd heading: 82.232263 deg.

2025-08-21T07:03:17.745Z,1755759797.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.435224 target range: 11.138467 and range: 11.20 m.
2025-08-21T07:03:18.070Z,1755759798.070 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:18.073Z,1755759798.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.14 m.
2025-08-21T07:03:18.091Z,1755759798.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.138467 m,
      nav range: 10.498375 m,
      bearing: 86.475628 deg,
      approach rate: -0.496099 m/s,
      LOS rate: -0.056431 deg/s,
      cmd heading: 82.232261 deg,
      new cmd heading: 82.174888 deg.

2025-08-21T07:03:18.092Z,1755759798.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.434222 target range: 11.138467 and range: 11.20 m.
2025-08-21T07:03:18.146Z,1755759798.146 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:18.146Z,1755759798.146 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:18.147Z,1755759798.147 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:18.396Z,1755759798.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.471307
2025-08-21T07:03:18.499Z,1755759798.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.14 m.
2025-08-21T07:03:18.518Z,1755759798.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.138467 m,
      nav range: 10.297352 m,
      bearing: 86.446290 deg,
      approach rate: -0.471492 m/s,
      LOS rate: -0.070155 deg/s,
      cmd heading: 82.174887 deg,
      new cmd heading: 82.085155 deg.

2025-08-21T07:03:18.519Z,1755759798.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.432656 target range: 11.138467 and range: 11.20 m.
2025-08-21T07:03:18.649Z,1755759798.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.723477
2025-08-21T07:03:18.894Z,1755759798.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.14 m.
2025-08-21T07:03:18.897Z,1755759798.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.138467 m,
      nav range: 10.111301 m,
      bearing: 86.423186 deg,
      approach rate: -0.471138 m/s,
      LOS rate: -0.059584 deg/s,
      cmd heading: 82.085152 deg,
      new cmd heading: 82.014563 deg.

2025-08-21T07:03:18.898Z,1755759798.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.431424 target range: 11.138467 and range: 11.20 m.
2025-08-21T07:03:18.900Z,1755759798.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975175
2025-08-21T07:03:19.154Z,1755759799.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228591
2025-08-21T07:03:19.308Z,1755759799.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.14 m.
2025-08-21T07:03:19.369Z,1755759799.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.138467 m,
      nav range: 9.925465 m,
      bearing: 86.404713 deg,
      approach rate: -0.452062 m/s,
      LOS rate: -0.045777 deg/s,
      cmd heading: 82.014562 deg,
      new cmd heading: 81.958107 deg.

2025-08-21T07:03:19.370Z,1755759799.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.430439 target range: 11.138467 and range: 11.20 m.
2025-08-21T07:03:19.404Z,1755759799.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479286
2025-08-21T07:03:19.656Z,1755759799.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.731139
2025-08-21T07:03:19.734Z,1755759799.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.14 m.
2025-08-21T07:03:19.737Z,1755759799.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.138467 m,
      nav range: 9.715495 m,
      bearing: 86.359400 deg,
      approach rate: -0.489735 m/s,
      LOS rate: -0.107973 deg/s,
      cmd heading: 81.958104 deg,
      new cmd heading: 81.819227 deg.

2025-08-21T07:03:19.737Z,1755759799.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428015 target range: 11.138467 and range: 11.20 m.
2025-08-21T07:03:19.908Z,1755759799.908 [DAT](INFO): DAT read: Rx Time:07:03:18.6881

2025-08-21T07:03:19.909Z,1755759799.909 [DAT](INFO): Rx dataTimestamp_ set to:1755759799.908368
2025-08-21T07:03:19.909Z,1755759799.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984081
2025-08-21T07:03:20.109Z,1755759800.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:20.111Z,1755759800.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.14 m.
2025-08-21T07:03:20.114Z,1755759800.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.138467 m,
      nav range: 9.546968 m,
      bearing: 86.331591 deg,
      approach rate: -0.446545 m/s,
      LOS rate: -0.074986 deg/s,
      cmd heading: 81.819225 deg,
      new cmd heading: 81.734326 deg.

2025-08-21T07:03:20.115Z,1755759800.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.426533 target range: 11.138467 and range: 11.20 m.
2025-08-21T07:03:20.161Z,1755759800.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236109
2025-08-21T07:03:20.418Z,1755759800.418 [DAT](INFO): DAT read: 07:03:18.6881 LVL= 24384, 29425, 21874, 32755, AGC= 49, IDX= 415, 0.10,-0.354,-2.299,-0.687,-0.740, PHS= 0.488,-1.514, 0.009, RAW= 136.8,  11.2, CAL= 136.2,  12.3, ROT=  13.8, -12.3

2025-08-21T07:03:20.419Z,1755759800.419 [DAT](INFO): got valid direction response:
 07:03:18.6881 LVL= 24384, 29425, 21874, 32755, AGC= 49, IDX= 415, 0.10,-0.354,-2.299,-0.687,-0.740, PHS= 0.488,-1.514, 0.009, RAW= 136.8,  11.2, CAL= 136.2,  12.3, ROT=  13.8, -12.3

2025-08-21T07:03:20.420Z,1755759800.420 [DAT](INFO): DAT read: Bearing 264.4,  14.3 (Local)

2025-08-21T07:03:20.420Z,1755759800.420 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.4,  14.3 (Local)

2025-08-21T07:03:20.422Z,1755759800.422 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m  (Round-trip  12.7 ms) speed  0.4 m/s

2025-08-21T07:03:20.422Z,1755759800.422 [DAT](INFO): DAT read: user:2074>

2025-08-21T07:03:20.423Z,1755759800.423 [DAT](INFO): DAT read: Tx time:07:03:19.7712

2025-08-21T07:03:20.424Z,1755759800.424 [DAT](INFO): Ping request sent.
2025-08-21T07:03:20.424Z,1755759800.424 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:20.424Z,1755759800.424 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:20.425Z,1755759800.425 [DAT](INFO): direction in FSK: [0.948842,0.233058,0.213030]
2025-08-21T07:03:20.425Z,1755759800.425 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:20.425Z,1755759800.425 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:20.429Z,1755759800.429 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:20.429Z,1755759800.429 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:20.599Z,1755759800.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.500000 m,
      deltaT: 3.527831 s,
      deltaX: -1.700000 m,
      approachRate: -0.481882 m/s,
      rangeRepo size: 4

2025-08-21T07:03:20.605Z,1755759800.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.447690 m,
      bearing: 98.589630 deg,
      lat: 36.779378 deg,
      lon: -121.859406 deg,
      deltaT: 3.527831 s,
      deltaX: -1.690777 m,
      approachRate: -0.479268 m/s,
      posRepo size: 4

2025-08-21T07:03:20.606Z,1755759800.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m.
2025-08-21T07:03:20.606Z,1755759800.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.50 m.
2025-08-21T07:03:20.606Z,1755759800.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-21T07:03:20.613Z,1755759800.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 9.253859 m,
      bearing: 91.694042 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074986 deg/s,
      cmd heading: 81.734326 deg,
      new cmd heading: 81.624756 deg.

2025-08-21T07:03:20.614Z,1755759800.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424621 target range: 9.447690 and range: 9.50 m.
2025-08-21T07:03:20.915Z,1755759800.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:20.918Z,1755759800.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 9.092950 m,
      bearing: 91.770066 deg,
      approach rate: -0.508857 m/s,
      LOS rate: 0.244673 deg/s,
      cmd heading: 81.624756 deg,
      new cmd heading: 81.856863 deg.

2025-08-21T07:03:20.920Z,1755759800.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428672 target range: 9.447690 and range: 9.50 m.
2025-08-21T07:03:21.392Z,1755759801.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:21.394Z,1755759801.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 8.899463 m,
      bearing: 91.869353 deg,
      approach rate: -0.412689 m/s,
      LOS rate: 0.216373 deg/s,
      cmd heading: 81.856867 deg,
      new cmd heading: 82.161199 deg.

2025-08-21T07:03:21.403Z,1755759801.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433983 target range: 9.447690 and range: 9.50 m.
2025-08-21T07:03:21.788Z,1755759801.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:21.790Z,1755759801.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 8.681509 m,
      bearing: 91.995571 deg,
      approach rate: -0.544823 m/s,
      LOS rate: 0.323430 deg/s,
      cmd heading: 82.161199 deg,
      new cmd heading: 82.549354 deg.

2025-08-21T07:03:21.796Z,1755759801.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.440758 target range: 9.447690 and range: 9.50 m.
2025-08-21T07:03:22.193Z,1755759802.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:22.195Z,1755759802.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:22.206Z,1755759802.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 8.491125 m,
      bearing: 92.115441 deg,
      approach rate: -0.462745 m/s,
      LOS rate: 0.297888 deg/s,
      cmd heading: 82.549352 deg,
      new cmd heading: 82.917021 deg.

2025-08-21T07:03:22.206Z,1755759802.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.447175 target range: 9.447690 and range: 9.50 m.
2025-08-21T07:03:22.428Z,1755759802.428 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:22.428Z,1755759802.428 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:22.429Z,1755759802.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:22.631Z,1755759802.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:22.634Z,1755759802.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 8.265347 m,
      bearing: 92.271813 deg,
      approach rate: -0.518052 m/s,
      LOS rate: 0.368598 deg/s,
      cmd heading: 82.917021 deg,
      new cmd heading: 83.398937 deg.

2025-08-21T07:03:22.635Z,1755759802.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455586 target range: 9.447690 and range: 9.50 m.
2025-08-21T07:03:22.681Z,1755759802.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257418
2025-08-21T07:03:22.932Z,1755759802.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508570
2025-08-21T07:03:22.962Z,1755759802.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:22.965Z,1755759802.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 8.105226 m,
      bearing: 92.395163 deg,
      approach rate: -0.482877 m/s,
      LOS rate: 0.379333 deg/s,
      cmd heading: 83.398939 deg,
      new cmd heading: 83.776294 deg.

2025-08-21T07:03:22.966Z,1755759802.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.462172 target range: 9.447690 and range: 9.50 m.
2025-08-21T07:03:23.184Z,1755759803.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760547
2025-08-21T07:03:23.436Z,1755759803.436 [DAT](INFO): DAT read: Rx Time:07:03:22.1859

2025-08-21T07:03:23.437Z,1755759803.437 [DAT](INFO): Rx dataTimestamp_ set to:1755759803.436473
2025-08-21T07:03:23.437Z,1755759803.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013614
2025-08-21T07:03:23.459Z,1755759803.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:23.461Z,1755759803.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 7.861725 m,
      bearing: 92.592709 deg,
      approach rate: -0.490565 m/s,
      LOS rate: 0.410309 deg/s,
      cmd heading: 83.776293 deg,
      new cmd heading: 84.387263 deg.

2025-08-21T07:03:23.462Z,1755759803.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.472836 target range: 9.447690 and range: 9.50 m.
2025-08-21T07:03:23.688Z,1755759803.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264497
2025-08-21T07:03:23.796Z,1755759803.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:23.806Z,1755759803.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 7.706481 m,
      bearing: 92.727215 deg,
      approach rate: -0.490502 m/s,
      LOS rate: 0.433543 deg/s,
      cmd heading: 84.387260 deg,
      new cmd heading: 84.798901 deg.

2025-08-21T07:03:23.812Z,1755759803.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.480020 target range: 9.447690 and range: 9.50 m.
2025-08-21T07:03:23.950Z,1755759803.950 [DAT](INFO): DAT read: 07:03:22.1859 LVL= 23872, 30049, 21090, 32755, AGC= 49, IDX= 425, 0.01,-1.703, 2.603,-2.128,-2.134, PHS= 0.533,-1.501,-0.038, RAW= 134.2,  11.1, CAL= 133.8,  12.2, ROT=  16.2, -12.2

2025-08-21T07:03:23.952Z,1755759803.952 [DAT](INFO): got valid direction response:
 07:03:22.1859 LVL= 23872, 30049, 21090, 32755, AGC= 49, IDX= 425, 0.01,-1.703, 2.603,-2.128,-2.134, PHS= 0.533,-1.501,-0.038, RAW= 134.2,  11.1, CAL= 133.8,  12.2, ROT=  16.2, -12.2

2025-08-21T07:03:23.953Z,1755759803.953 [DAT](INFO): DAT read: Bearing 262.5,  17.0 (Local)

2025-08-21T07:03:23.953Z,1755759803.953 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.5,  17.0 (Local)

2025-08-21T07:03:23.955Z,1755759803.955 [DAT](INFO): DAT read: Range 11 to 50 : 7.9 m  (Round-trip  10.6 ms) speed  0.4 m/s

2025-08-21T07:03:23.957Z,1755759803.957 [DAT](INFO): DAT read: user:2075>

2025-08-21T07:03:23.958Z,1755759803.958 [DAT](INFO): DAT read: Tx time:07:03:23.2711

2025-08-21T07:03:23.958Z,1755759803.958 [DAT](INFO): Ping request sent.
2025-08-21T07:03:23.958Z,1755759803.958 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:23.958Z,1755759803.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:23.959Z,1755759803.959 [DAT](INFO): direction in FSK: [0.938606,0.272690,0.211325]
2025-08-21T07:03:23.960Z,1755759803.960 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:23.960Z,1755759803.960 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:23.985Z,1755759803.985 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:23.985Z,1755759803.985 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:24.221Z,1755759804.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.900000 m,
      deltaT: 3.529443 s,
      deltaX: -1.600000 m,
      approachRate: -0.453329 m/s,
      rangeRepo size: 4

2025-08-21T07:03:24.227Z,1755759804.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.856483 m,
      bearing: 99.254238 deg,
      lat: 36.779370 deg,
      lon: -121.859406 deg,
      deltaT: 3.529443 s,
      deltaX: -1.591208 m,
      approachRate: -0.450838 m/s,
      posRepo size: 4

2025-08-21T07:03:24.228Z,1755759804.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.86 m. 9.45 m.
2025-08-21T07:03:24.231Z,1755759804.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 7.494198 m,
      bearing: 92.921611 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074986 deg/s,
      cmd heading: 84.798902 deg,
      new cmd heading: 84.698621 deg.

2025-08-21T07:03:24.236Z,1755759804.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478270 target range: 9.447690 and range: 7.90 m.
2025-08-21T07:03:24.609Z,1755759804.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:24.615Z,1755759804.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:24.618Z,1755759804.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 7.297216 m,
      bearing: 93.135372 deg,
      approach rate: -0.504544 m/s,
      LOS rate: 0.562298 deg/s,
      cmd heading: 84.698621 deg,
      new cmd heading: 85.357184 deg.

2025-08-21T07:03:24.619Z,1755759804.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.489764 target range: 9.447690 and range: 7.90 m.
2025-08-21T07:03:24.696Z,1755759804.696 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:24.696Z,1755759804.696 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:24.697Z,1755759804.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:24.948Z,1755759804.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990011
2025-08-21T07:03:25.002Z,1755759805.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:25.009Z,1755759805.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 7.115656 m,
      bearing: 93.341479 deg,
      approach rate: -0.464991 m/s,
      LOS rate: 0.541326 deg/s,
      cmd heading: 85.357181 deg,
      new cmd heading: 85.991251 deg.

2025-08-21T07:03:25.010Z,1755759805.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.500830 target range: 9.447690 and range: 7.90 m.
2025-08-21T07:03:25.201Z,1755759805.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242719
2025-08-21T07:03:25.448Z,1755759805.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:25.452Z,1755759805.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494291
2025-08-21T07:03:25.451Z,1755759805.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 6.889688 m,
      bearing: 93.613337 deg,
      approach rate: -0.505963 m/s,
      LOS rate: 0.628675 deg/s,
      cmd heading: 85.991248 deg,
      new cmd heading: 86.833508 deg.

2025-08-21T07:03:25.454Z,1755759805.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.515531 target range: 9.447690 and range: 7.90 m.
2025-08-21T07:03:25.704Z,1755759805.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746071
2025-08-21T07:03:25.830Z,1755759805.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:25.833Z,1755759805.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 6.706877 m,
      bearing: 93.886694 deg,
      approach rate: -0.478570 m/s,
      LOS rate: 0.735110 deg/s,
      cmd heading: 86.833506 deg,
      new cmd heading: 87.675866 deg.

2025-08-21T07:03:25.834Z,1755759805.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.530233 target range: 9.447690 and range: 7.90 m.
2025-08-21T07:03:25.957Z,1755759805.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999089
2025-08-21T07:03:26.208Z,1755759806.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250243
2025-08-21T07:03:26.210Z,1755759806.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:26.213Z,1755759806.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 6.529400 m,
      bearing: 94.163827 deg,
      approach rate: -0.467869 m/s,
      LOS rate: 0.750441 deg/s,
      cmd heading: 87.675867 deg,
      new cmd heading: 88.529800 deg.

2025-08-21T07:03:26.214Z,1755759806.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545136 target range: 9.447690 and range: 7.90 m.
2025-08-21T07:03:26.463Z,1755759806.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504232
2025-08-21T07:03:26.633Z,1755759806.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:26.639Z,1755759806.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:26.645Z,1755759806.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 6.329877 m,
      bearing: 94.517535 deg,
      approach rate: -0.469269 m/s,
      LOS rate: 0.858125 deg/s,
      cmd heading: 88.529797 deg,
      new cmd heading: 89.624230 deg.

2025-08-21T07:03:26.646Z,1755759806.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.564238 target range: 9.447690 and range: 7.90 m.
2025-08-21T07:03:26.713Z,1755759806.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755017
2025-08-21T07:03:26.964Z,1755759806.964 [DAT](INFO): DAT read: Rx Time:07:03:25.6836

2025-08-21T07:03:26.965Z,1755759806.965 [DAT](INFO): Rx dataTimestamp_ set to:1755759806.964463
2025-08-21T07:03:26.965Z,1755759806.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007195
2025-08-21T07:03:27.022Z,1755759807.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:27.029Z,1755759807.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 6.135383 m,
      bearing: 94.880885 deg,
      approach rate: -0.502390 m/s,
      LOS rate: 0.968296 deg/s,
      cmd heading: 89.624233 deg,
      new cmd heading: 90.748684 deg.

2025-08-21T07:03:27.030Z,1755759807.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.583863 target range: 9.447690 and range: 7.90 m.
2025-08-21T07:03:27.216Z,1755759807.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258213
2025-08-21T07:03:27.474Z,1755759807.474 [DAT](INFO): DAT read: 07:03:25.6836 LVL= 21584, 30705, 18130, 32755, AGC= 48, IDX= 418,-0.35, 1.320,-0.606, 1.021, 0.955, PHS= 0.468,-1.515, 0.022, RAW= 137.6,  11.4, CAL= 137.1,  12.4, ROT=  12.9, -12.4

2025-08-21T07:03:27.475Z,1755759807.475 [DAT](INFO): got valid direction response:
 07:03:25.6836 LVL= 21584, 30705, 18130, 32755, AGC= 48, IDX= 418,-0.35, 1.320,-0.606, 1.021, 0.955, PHS= 0.468,-1.515, 0.022, RAW= 137.6,  11.4, CAL= 137.1,  12.4, ROT=  12.9, -12.4

2025-08-21T07:03:27.476Z,1755759807.476 [DAT](INFO): DAT read: Bearing 262.5,  14.2 (Local)

2025-08-21T07:03:27.476Z,1755759807.476 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.5,  14.2 (Local)

2025-08-21T07:03:27.478Z,1755759807.478 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m  (Round-trip  8.3 ms) speed  0.4 m/s

2025-08-21T07:03:27.478Z,1755759807.478 [DAT](INFO): DAT read: user:2076>

2025-08-21T07:03:27.483Z,1755759807.483 [DAT](INFO): DAT read: Tx time:07:03:26.7711

2025-08-21T07:03:27.483Z,1755759807.483 [DAT](INFO): Ping request sent.
2025-08-21T07:03:27.484Z,1755759807.484 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:27.484Z,1755759807.484 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:27.485Z,1755759807.485 [DAT](INFO): direction in FSK: [0.952022,0.218042,0.214735]
2025-08-21T07:03:27.485Z,1755759807.485 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:27.485Z,1755759807.485 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:27.488Z,1755759807.488 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:27.489Z,1755759807.489 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:27.602Z,1755759807.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 3.526532 s,
      deltaX: -1.700000 m,
      approachRate: -0.482060 m/s,
      rangeRepo size: 4

2025-08-21T07:03:27.608Z,1755759807.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.165867 m,
      bearing: 96.106184 deg,
      lat: 36.779370 deg,
      lon: -121.859406 deg,
      deltaT: 7.055975 s,
      deltaX: -3.281823 m,
      approachRate: -0.465113 m/s,
      posRepo size: 4

2025-08-21T07:03:27.609Z,1755759807.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.45 m.
2025-08-21T07:03:27.624Z,1755759807.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 5.864159 m,
      bearing: 95.418466 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074986 deg/s,
      cmd heading: 90.748687 deg,
      new cmd heading: 90.618401 deg.

2025-08-21T07:03:27.624Z,1755759807.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.581589 target range: 9.447690 and range: 6.20 m.
2025-08-21T07:03:27.958Z,1755759807.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:27.961Z,1755759807.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 5.674401 m,
      bearing: 95.815998 deg,
      approach rate: -0.531506 m/s,
      LOS rate: 1.150701 deg/s,
      cmd heading: 90.618401 deg,
      new cmd heading: 91.850681 deg.

2025-08-21T07:03:27.962Z,1755759807.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.603097 target range: 9.447690 and range: 6.20 m.
2025-08-21T07:03:28.380Z,1755759808.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:28.383Z,1755759808.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 5.469029 m,
      bearing: 96.278070 deg,
      approach rate: -0.486745 m/s,
      LOS rate: 1.136252 deg/s,
      cmd heading: 91.850683 deg,
      new cmd heading: 93.288634 deg.

2025-08-21T07:03:28.384Z,1755759808.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628194 target range: 9.447690 and range: 6.20 m.
2025-08-21T07:03:28.814Z,1755759808.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:28.816Z,1755759808.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:28.819Z,1755759808.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 5.257595 m,
      bearing: 96.762996 deg,
      approach rate: -0.484800 m/s,
      LOS rate: 1.156596 deg/s,
      cmd heading: 93.288636 deg,
      new cmd heading: 94.801549 deg.

2025-08-21T07:03:28.820Z,1755759808.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654599 target range: 9.447690 and range: 6.20 m.
2025-08-21T07:03:28.980Z,1755759808.980 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:28.980Z,1755759808.980 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:28.980Z,1755759808.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:29.192Z,1755759809.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:29.194Z,1755759809.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 5.074173 m,
      bearing: 97.202342 deg,
      approach rate: -0.489193 m/s,
      LOS rate: 1.214099 deg/s,
      cmd heading: 94.801550 deg,
      new cmd heading: 96.166961 deg.

2025-08-21T07:03:29.195Z,1755759809.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.678430 target range: 9.447690 and range: 6.20 m.
2025-08-21T07:03:29.233Z,1755759809.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749320
2025-08-21T07:03:29.487Z,1755759809.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002945
2025-08-21T07:03:29.596Z,1755759809.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:29.598Z,1755759809.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 4.879071 m,
      bearing: 97.628631 deg,
      approach rate: -0.482372 m/s,
      LOS rate: 1.096096 deg/s,
      cmd heading: 96.166960 deg,
      new cmd heading: 97.496715 deg.

2025-08-21T07:03:29.600Z,1755759809.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.701639 target range: 9.447690 and range: 6.20 m.
2025-08-21T07:03:29.737Z,1755759809.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252962
2025-08-21T07:03:29.976Z,1755759809.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:29.979Z,1755759809.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 4.695282 m,
      bearing: 98.041686 deg,
      approach rate: -0.482821 m/s,
      LOS rate: 1.127576 deg/s,
      cmd heading: 97.496716 deg,
      new cmd heading: 98.784158 deg.

2025-08-21T07:03:29.988Z,1755759809.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504570
2025-08-21T07:03:29.996Z,1755759809.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724109 target range: 9.447690 and range: 6.20 m.
2025-08-21T07:03:30.241Z,1755759810.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757368
2025-08-21T07:03:30.391Z,1755759810.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:30.393Z,1755759810.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 4.495239 m,
      bearing: 98.504594 deg,
      approach rate: -0.482746 m/s,
      LOS rate: 1.166794 deg/s,
      cmd heading: 98.784159 deg,
      new cmd heading: 100.234358 deg.

2025-08-21T07:03:30.394Z,1755759810.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749420 target range: 9.447690 and range: 6.20 m.
2025-08-21T07:03:30.497Z,1755759810.497 [DAT](INFO): DAT read: Rx Time:07:03:29.1815

2025-08-21T07:03:30.499Z,1755759810.499 [DAT](INFO): Rx dataTimestamp_ set to:1755759810.497666
2025-08-21T07:03:30.501Z,1755759810.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016834
2025-08-21T07:03:30.744Z,1755759810.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260654
2025-08-21T07:03:30.832Z,1755759810.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:30.835Z,1755759810.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:30.866Z,1755759810.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 4.282914 m,
      bearing: 98.968506 deg,
      approach rate: -0.479203 m/s,
      LOS rate: 1.098909 deg/s,
      cmd heading: 100.234358 deg,
      new cmd heading: 101.694756 deg.

2025-08-21T07:03:30.875Z,1755759810.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.774908 target range: 9.447690 and range: 6.20 m.
2025-08-21T07:03:31.005Z,1755759811.005 [DAT](INFO): DAT read: 07:03:29.1815 LVL= 25488, 32145, 17586, 32755, AGC= 44, IDX= 412, 0.04,-2.279, 2.341,-2.104,-2.461, PHS= 0.284,-1.437, 0.313, RAW= 150.8,   9.7, CAL= 150.5,  10.6, ROT= 359.5, -10.6

2025-08-21T07:03:31.006Z,1755759811.006 [DAT](INFO): got valid direction response:
 07:03:29.1815 LVL= 25488, 32145, 17586, 32755, AGC= 44, IDX= 412, 0.04,-2.279, 2.341,-2.104,-2.461, PHS= 0.284,-1.437, 0.313, RAW= 150.8,   9.7, CAL= 150.5,  10.6, ROT= 359.5, -10.6

2025-08-21T07:03:31.007Z,1755759811.007 [DAT](INFO): DAT read: Bearing 264.4,   2.0 (Local)

2025-08-21T07:03:31.007Z,1755759811.007 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.4,   2.0 (Local)

2025-08-21T07:03:31.009Z,1755759811.009 [DAT](INFO): DAT read: Range 11 to 50 : 4.6 m  (Round-trip  6.2 ms) speed  0.4 m/s

2025-08-21T07:03:31.009Z,1755759811.009 [DAT](INFO): DAT read: user:2077>

2025-08-21T07:03:31.010Z,1755759811.010 [DAT](INFO): DAT read: Tx time:07:03:30.2711

2025-08-21T07:03:31.010Z,1755759811.010 [DAT](INFO): Ping request sent.
2025-08-21T07:03:31.010Z,1755759811.010 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:31.011Z,1755759811.011 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:31.012Z,1755759811.012 [DAT](INFO): direction in FSK: [0.982898,-0.008577,0.183951]
2025-08-21T07:03:31.013Z,1755759811.013 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:31.013Z,1755759811.013 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:31.016Z,1755759811.016 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:31.016Z,1755759811.016 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:31.237Z,1755759811.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.600000 m,
      deltaT: 3.528514 s,
      deltaX: -1.600000 m,
      approachRate: -0.453449 m/s,
      rangeRepo size: 4

2025-08-21T07:03:31.239Z,1755759811.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.574677 m,
      bearing: 86.160375 deg,
      lat: 36.779370 deg,
      lon: -121.859405 deg,
      deltaT: 10.584489 s,
      deltaX: -4.873013 m,
      approachRate: -0.460392 m/s,
      posRepo size: 4

2025-08-21T07:03:31.244Z,1755759811.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.57 m. 9.45 m.
2025-08-21T07:03:31.246Z,1755759811.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 4.096923 m,
      bearing: 99.353385 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.074986 deg/s,
      cmd heading: 101.694755 deg,
      new cmd heading: 101.604199 deg.

2025-08-21T07:03:31.251Z,1755759811.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.773328 target range: 9.447690 and range: 4.60 m.
2025-08-21T07:03:31.621Z,1755759811.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:31.623Z,1755759811.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 3.898104 m,
      bearing: 99.719103 deg,
      approach rate: -0.517564 m/s,
      LOS rate: 1.000585 deg/s,
      cmd heading: 101.604200 deg,
      new cmd heading: 102.757150 deg.

2025-08-21T07:03:31.624Z,1755759811.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.793451 target range: 9.447690 and range: 4.60 m.
2025-08-21T07:03:31.997Z,1755759811.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:32.000Z,1755759812.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 3.710858 m,
      bearing: 100.058217 deg,
      approach rate: -0.496918 m/s,
      LOS rate: 0.945352 deg/s,
      cmd heading: 102.757150 deg,
      new cmd heading: 103.825695 deg.

2025-08-21T07:03:32.001Z,1755759812.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.812100 target range: 9.447690 and range: 4.60 m.
2025-08-21T07:03:32.421Z,1755759812.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:32.434Z,1755759812.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 3.508435 m,
      bearing: 100.414523 deg,
      approach rate: -0.477951 m/s,
      LOS rate: 0.889827 deg/s,
      cmd heading: 103.825692 deg,
      new cmd heading: 104.956129 deg.

2025-08-21T07:03:32.434Z,1755759812.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.831830 target range: 9.447690 and range: 4.60 m.
2025-08-21T07:03:32.854Z,1755759812.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:32.857Z,1755759812.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:32.860Z,1755759812.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 3.279175 m,
      bearing: 100.873381 deg,
      approach rate: -0.525785 m/s,
      LOS rate: 1.125904 deg/s,
      cmd heading: 104.956129 deg,
      new cmd heading: 106.428602 deg.

2025-08-21T07:03:32.861Z,1755759812.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.857530 target range: 9.447690 and range: 4.60 m.
2025-08-21T07:03:33.012Z,1755759813.012 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:33.012Z,1755759813.012 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:33.012Z,1755759813.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:33.245Z,1755759813.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:33.248Z,1755759813.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 3.091632 m,
      bearing: 101.299751 deg,
      approach rate: -0.485727 m/s,
      LOS rate: 1.171250 deg/s,
      cmd heading: 106.428602 deg,
      new cmd heading: 107.785039 deg.

2025-08-21T07:03:33.249Z,1755759813.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.881204 target range: 9.447690 and range: 4.60 m.
2025-08-21T07:03:33.266Z,1755759813.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255277
2025-08-21T07:03:33.288Z,1755759813.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:03:33.519Z,1755759813.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508172
2025-08-21T07:03:33.638Z,1755759813.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:33.641Z,1755759813.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 2.888136 m,
      bearing: 101.536448 deg,
      approach rate: -0.515362 m/s,
      LOS rate: 0.641683 deg/s,
      cmd heading: 107.785036 deg,
      new cmd heading: 108.545115 deg.

2025-08-21T07:03:33.642Z,1755759813.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.894470 target range: 9.447690 and range: 4.60 m.
2025-08-21T07:03:33.770Z,1755759813.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759373
2025-08-21T07:03:34.020Z,1755759814.020 [DAT](INFO): DAT read: Rx Time:07:03:32.6795

2025-08-21T07:03:34.021Z,1755759814.021 [DAT](INFO): Rx dataTimestamp_ set to:1755759814.020320
2025-08-21T07:03:34.021Z,1755759814.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010764
2025-08-21T07:03:34.037Z,1755759814.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:34.056Z,1755759814.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 2.700098 m,
      bearing: 101.717989 deg,
      approach rate: -0.471070 m/s,
      LOS rate: 0.486463 deg/s,
      cmd heading: 108.545114 deg,
      new cmd heading: 109.127642 deg.

2025-08-21T07:03:34.057Z,1755759814.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.904637 target range: 9.447690 and range: 4.60 m.
2025-08-21T07:03:34.273Z,1755759814.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262266
2025-08-21T07:03:34.292Z,1755759814.292 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:03:34.424Z,1755759814.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:34.426Z,1755759814.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 2.498417 m,
      bearing: 101.863852 deg,
      approach rate: -0.522112 m/s,
      LOS rate: 0.408093 deg/s,
      cmd heading: 109.127640 deg,
      new cmd heading: 109.600543 deg.

2025-08-21T07:03:34.427Z,1755759814.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.912890 target range: 9.447690 and range: 4.60 m.
2025-08-21T07:03:34.530Z,1755759814.530 [DAT](INFO): DAT read: Range 11 to 50 : 3.1 m  (Round-trip  4.2 ms) speed  0.4 m/s

2025-08-21T07:03:34.534Z,1755759814.534 [DAT](INFO): DAT read: user:2078>

2025-08-21T07:03:34.536Z,1755759814.536 [DAT](INFO): DAT read: Tx time:07:03:33.7711

2025-08-21T07:03:34.537Z,1755759814.537 [DAT](INFO): Ping request sent.
2025-08-21T07:03:34.538Z,1755759814.538 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:34.539Z,1755759814.539 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T07:03:34.551Z,1755759814.551 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:34.554Z,1755759814.554 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:34.852Z,1755759814.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.100000 m,
      deltaT: 3.529004 s,
      deltaX: -1.500000 m,
      approachRate: -0.425049 m/s,
      rangeRepo size: 4

2025-08-21T07:03:34.853Z,1755759814.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:34.856Z,1755759814.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 2.287666 m,
      bearing: 101.872360 deg,
      approach rate: -0.492039 m/s,
      LOS rate: 0.021692 deg/s,
      cmd heading: 109.600542 deg,
      new cmd heading: 109.628416 deg.

2025-08-21T07:03:34.857Z,1755759814.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.913377 target range: 9.447690 and range: 3.10 m.
2025-08-21T07:03:35.254Z,1755759815.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:35.259Z,1755759815.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:35.280Z,1755759815.280 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:35.281Z,1755759815.281 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:35.281Z,1755759815.281 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:35.289Z,1755759815.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 2.088327 m,
      bearing: 101.881987 deg,
      approach rate: -0.490927 m/s,
      LOS rate: 0.025972 deg/s,
      cmd heading: 109.628416 deg,
      new cmd heading: 109.660053 deg.

2025-08-21T07:03:35.290Z,1755759815.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.913929 target range: 9.447690 and range: 3.10 m.
2025-08-21T07:03:35.535Z,1755759815.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997008
2025-08-21T07:03:35.681Z,1755759815.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:35.684Z,1755759815.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 1.898206 m,
      bearing: 101.624511 deg,
      approach rate: -0.448719 m/s,
      LOS rate: -0.668552 deg/s,
      cmd heading: 109.660053 deg,
      new cmd heading: 108.810325 deg.

2025-08-21T07:03:35.685Z,1755759815.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.899098 target range: 9.447690 and range: 3.10 m.
2025-08-21T07:03:35.785Z,1755759815.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247452
2025-08-21T07:03:36.036Z,1755759816.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499100
2025-08-21T07:03:36.044Z,1755759816.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:36.046Z,1755759816.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 1.716362 m,
      bearing: 101.220260 deg,
      approach rate: -0.502294 m/s,
      LOS rate: -1.234921 deg/s,
      cmd heading: 108.810323 deg,
      new cmd heading: 107.469339 deg.

2025-08-21T07:03:36.047Z,1755759816.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.875694 target range: 9.447690 and range: 3.10 m.
2025-08-21T07:03:36.288Z,1755759816.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750903
2025-08-21T07:03:36.451Z,1755759816.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:36.453Z,1755759816.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 1.523151 m,
      bearing: 100.574583 deg,
      approach rate: -0.474382 m/s,
      LOS rate: -1.786361 deg/s,
      cmd heading: 107.469338 deg,
      new cmd heading: 105.287697 deg.

2025-08-21T07:03:36.454Z,1755759816.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.837617 target range: 9.447690 and range: 3.10 m.
2025-08-21T07:03:36.543Z,1755759816.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005014
2025-08-21T07:03:36.792Z,1755759816.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254879
2025-08-21T07:03:36.884Z,1755759816.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:36.887Z,1755759816.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 1.325806 m,
      bearing: 99.474029 deg,
      approach rate: -0.455263 m/s,
      LOS rate: -2.916651 deg/s,
      cmd heading: 105.287694 deg,
      new cmd heading: 101.500342 deg.

2025-08-21T07:03:36.888Z,1755759816.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.771515 target range: 9.447690 and range: 3.10 m.
2025-08-21T07:03:37.044Z,1755759817.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506803
2025-08-21T07:03:37.297Z,1755759817.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759249
2025-08-21T07:03:37.329Z,1755759817.329 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:37.331Z,1755759817.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:37.350Z,1755759817.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 1.126238 m,
      bearing: 97.813504 deg,
      approach rate: -0.446742 m/s,
      LOS rate: -4.375221 deg/s,
      cmd heading: 101.500340 deg,
      new cmd heading: 95.657199 deg.

2025-08-21T07:03:37.350Z,1755759817.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669533 target range: 9.447690 and range: 3.10 m.
2025-08-21T07:03:37.556Z,1755759817.556 [DAT](INFO): DAT read: Rx Time:07:03:36.1779

2025-08-21T07:03:37.557Z,1755759817.557 [DAT](INFO): Rx dataTimestamp_ set to:1755759817.556510
2025-08-21T07:03:37.560Z,1755759817.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021219
2025-08-21T07:03:37.798Z,1755759817.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.45 m.
2025-08-21T07:03:37.801Z,1755759817.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.447690 m,
      nav range: 0.915641 m,
      bearing: 95.343547 deg,
      approach rate: -0.451129 m/s,
      LOS rate: -6.505916 deg/s,
      cmd heading: 95.657202 deg,
      new cmd heading: 86.621546 deg.

2025-08-21T07:03:37.801Z,1755759817.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.511831 target range: 9.447690 and range: 3.10 m.
2025-08-21T07:03:37.804Z,1755759817.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266919
2025-08-21T07:03:38.058Z,1755759818.058 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.1 m/s

2025-08-21T07:03:38.058Z,1755759818.058 [DAT](INFO): DAT read: user:2079>

2025-08-21T07:03:38.059Z,1755759818.059 [DAT](INFO): DAT read: Tx time:07:03:37.2711

2025-08-21T07:03:38.060Z,1755759818.060 [DAT](INFO): Ping request sent.
2025-08-21T07:03:38.060Z,1755759818.060 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:38.060Z,1755759818.060 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-21T07:03:38.060Z,1755759818.060 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:38.061Z,1755759818.061 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:38.208Z,1755759818.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.900000 m,
      deltaT: 3.531063 s,
      deltaX: -1.200000 m,
      approachRate: -0.339841 m/s,
      rangeRepo size: 4

2025-08-21T07:03:38.208Z,1755759818.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 1.90 m.
2025-08-21T07:03:38.208Z,1755759818.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-21T07:03:39.391Z,1755759819.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:39.573Z,1755759819.573 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:39.573Z,1755759819.573 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:39.574Z,1755759819.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:39.824Z,1755759819.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764685
2025-08-21T07:03:40.076Z,1755759820.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016650
2025-08-21T07:03:40.329Z,1755759820.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268935
2025-08-21T07:03:40.580Z,1755759820.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520656
2025-08-21T07:03:40.833Z,1755759820.833 [DAT](INFO): DAT read: Rx Time:07:03:39.6778

2025-08-21T07:03:40.833Z,1755759820.833 [DAT](INFO): Rx dataTimestamp_ set to:1755759820.832990
2025-08-21T07:03:40.834Z,1755759820.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774150
2025-08-21T07:03:41.085Z,1755759821.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025330
2025-08-21T07:03:41.337Z,1755759821.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276858
2025-08-21T07:03:41.433Z,1755759821.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:41.594Z,1755759821.594 [DAT](INFO): DAT read: 07:03:39.6778 LVL= 32752, 22001, 28866, 32755, AGC= 45, IDX= 439,-0.23,-0.561, 1.246, 1.339, 1.369, PHS=-1.828,-0.078,-0.074, RAW= 269.9,  21.8, CAL= 271.2,  29.4, ROT= 238.8, -29.4

2025-08-21T07:03:41.595Z,1755759821.595 [DAT](INFO): got valid direction response:
 07:03:39.6778 LVL= 32752, 22001, 28866, 32755, AGC= 45, IDX= 439,-0.23,-0.561, 1.246, 1.339, 1.369, PHS=-1.828,-0.078,-0.074, RAW= 269.9,  21.8, CAL= 271.2,  29.4, ROT= 238.8, -29.4

2025-08-21T07:03:41.596Z,1755759821.596 [DAT](INFO): DAT read: Bearing  41.3, -45.7 (Local)

2025-08-21T07:03:41.596Z,1755759821.596 [DAT](INFO): Local bearing/azimuth received:
 Bearing  41.3, -45.7 (Local)

2025-08-21T07:03:41.598Z,1755759821.598 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed -0.3 m/s

2025-08-21T07:03:41.600Z,1755759821.600 [DAT](INFO): DAT read: user:2080>

2025-08-21T07:03:41.603Z,1755759821.603 [DAT](INFO): DAT read: Tx time:07:03:40.7711

2025-08-21T07:03:41.604Z,1755759821.604 [DAT](INFO): Ping request sent.
2025-08-21T07:03:41.604Z,1755759821.604 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:41.605Z,1755759821.605 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:41.606Z,1755759821.606 [DAT](INFO): direction in FSK: [-0.451312,-0.745205,0.490904]
2025-08-21T07:03:41.606Z,1755759821.606 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:41.606Z,1755759821.606 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:41.651Z,1755759821.651 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:41.656Z,1755759821.656 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:41.896Z,1755759821.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.800000 m,
      deltaT: 3.531459 s,
      deltaX: -0.100000 m,
      approachRate: -0.028317 m/s,
      rangeRepo size: 4

2025-08-21T07:03:41.898Z,1755759821.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.790083 m,
      bearing: 343.089440 deg,
      lat: 36.779377 deg,
      lon: -121.859405 deg,
      deltaT: 21.176015 s,
      deltaX: -7.657607 m,
      approachRate: -0.361617 m/s,
      posRepo size: 4

2025-08-21T07:03:43.864Z,1755759823.864 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:44.112Z,1755759824.112 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:44.112Z,1755759824.112 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:44.112Z,1755759824.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:44.361Z,1755759824.361 [DAT](INFO): DAT read: Rx Time:07:03:43.1795

2025-08-21T07:03:44.362Z,1755759824.362 [DAT](INFO): Rx dataTimestamp_ set to:1755759824.361204
2025-08-21T07:03:44.363Z,1755759824.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757929
2025-08-21T07:03:44.612Z,1755759824.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007818
2025-08-21T07:03:44.868Z,1755759824.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262833
2025-08-21T07:03:45.123Z,1755759825.123 [DAT](INFO): DAT read: 07:03:43.1795 LVL= 32752, 19505, 24226, 32755, AGC= 46, IDX= 440,-0.04,-3.126,-0.782,-1.947,-1.569, PHS=-1.455, 0.831,-0.422, RAW= 303.2,  10.6, CAL= 300.7,  13.6, ROT= 209.3, -13.6

2025-08-21T07:03:45.124Z,1755759825.124 [DAT](INFO): got valid direction response:
 07:03:43.1795 LVL= 32752, 19505, 24226, 32755, AGC= 46, IDX= 440,-0.04,-3.126,-0.782,-1.947,-1.569, PHS=-1.455, 0.831,-0.422, RAW= 303.2,  10.6, CAL= 300.7,  13.6, ROT= 209.3, -13.6

2025-08-21T07:03:45.125Z,1755759825.125 [DAT](INFO): DAT read: Bearing  74.2, -29.2 (Local)

2025-08-21T07:03:45.125Z,1755759825.125 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.2, -29.2 (Local)

2025-08-21T07:03:45.127Z,1755759825.127 [DAT](INFO): DAT read: Range 11 to 50 : 3.1 m  (Round-trip  4.2 ms) speed -0.4 m/s

2025-08-21T07:03:45.128Z,1755759825.128 [DAT](INFO): DAT read: user:2081>

2025-08-21T07:03:45.129Z,1755759825.129 [DAT](INFO): DAT read: Tx time:07:03:44.2711

2025-08-21T07:03:45.130Z,1755759825.130 [DAT](INFO): Ping request sent.
2025-08-21T07:03:45.130Z,1755759825.130 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:45.130Z,1755759825.130 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:45.140Z,1755759825.140 [DAT](INFO): direction in FSK: [-0.847617,-0.475661,0.235142]
2025-08-21T07:03:45.141Z,1755759825.141 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:45.141Z,1755759825.141 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:45.151Z,1755759825.151 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:45.169Z,1755759825.169 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:45.476Z,1755759825.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.100000 m,
      deltaT: 3.529148 s,
      deltaX: 1.300000 m,
      approachRate: 0.368361 m/s,
      rangeRepo size: 4

2025-08-21T07:03:45.478Z,1755759825.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.082914 m,
      bearing: 306.941633 deg,
      lat: 36.779383 deg,
      lon: -121.859403 deg,
      deltaT: 3.529148 s,
      deltaX: 1.292831 m,
      approachRate: 0.366330 m/s,
      posRepo size: 4

2025-08-21T07:03:45.478Z,1755759825.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.10 m.
2025-08-21T07:03:45.888Z,1755759825.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:45.890Z,1755759825.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.10 m.
2025-08-21T07:03:46.124Z,1755759826.124 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:46.124Z,1755759826.124 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:46.125Z,1755759826.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:46.289Z,1755759826.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.10 m.
2025-08-21T07:03:46.377Z,1755759826.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246947
2025-08-21T07:03:46.628Z,1755759826.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498311
2025-08-21T07:03:46.881Z,1755759826.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750664
2025-08-21T07:03:47.091Z,1755759827.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.10 m.
2025-08-21T07:03:47.133Z,1755759827.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002894
2025-08-21T07:03:47.384Z,1755759827.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254358
2025-08-21T07:03:47.469Z,1755759827.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.10 m.
2025-08-21T07:03:47.636Z,1755759827.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506270
2025-08-21T07:03:47.889Z,1755759827.889 [DAT](INFO): DAT read: Rx Time:07:03:46.6815

2025-08-21T07:03:47.889Z,1755759827.889 [DAT](INFO): Rx dataTimestamp_ set to:1755759827.888775
2025-08-21T07:03:47.890Z,1755759827.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759728
2025-08-21T07:03:47.933Z,1755759827.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:47.935Z,1755759827.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.10 m.
2025-08-21T07:03:48.145Z,1755759828.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013839
2025-08-21T07:03:48.282Z,1755759828.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.10 m.
2025-08-21T07:03:48.408Z,1755759828.408 [DAT](INFO): DAT read: 07:03:46.6815 LVL= 32752, 19601, 22146, 32755, AGC= 48, IDX= 445,-0.17, 1.500,-2.332, 2.577, 2.779, PHS=-1.178, 1.217,-0.246, RAW= 307.3,   2.0, CAL= 305.2,  -1.4, ROT= 204.8,   1.4

2025-08-21T07:03:48.409Z,1755759828.409 [DAT](INFO): got valid direction response:
 07:03:46.6815 LVL= 32752, 19601, 22146, 32755, AGC= 48, IDX= 445,-0.17, 1.500,-2.332, 2.577, 2.779, PHS=-1.178, 1.217,-0.246, RAW= 307.3,   2.0, CAL= 305.2,  -1.4, ROT= 204.8,   1.4

2025-08-21T07:03:48.410Z,1755759828.410 [DAT](INFO): DAT read: Bearing  84.6, -23.5 (Local)

2025-08-21T07:03:48.410Z,1755759828.410 [DAT](INFO): Local bearing/azimuth received:
 Bearing  84.6, -23.5 (Local)

2025-08-21T07:03:48.416Z,1755759828.416 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m  (Round-trip  6.3 ms) speed -0.4 m/s

2025-08-21T07:03:48.417Z,1755759828.417 [DAT](INFO): DAT read: user:2082>

2025-08-21T07:03:48.418Z,1755759828.418 [DAT](INFO): DAT read: Tx time:07:03:47.7710

2025-08-21T07:03:48.418Z,1755759828.418 [DAT](INFO): Ping request sent.
2025-08-21T07:03:48.418Z,1755759828.418 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:48.419Z,1755759828.419 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:48.424Z,1755759828.424 [DAT](INFO): direction in FSK: [-0.907507,-0.419327,-0.024432]
2025-08-21T07:03:48.424Z,1755759828.424 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:48.424Z,1755759828.424 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:48.430Z,1755759828.430 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:48.456Z,1755759828.456 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:48.700Z,1755759828.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.700000 m,
      deltaT: 3.277347 s,
      deltaX: 1.600000 m,
      approachRate: 0.488200 m/s,
      rangeRepo size: 4

2025-08-21T07:03:48.702Z,1755759828.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.674095 m,
      bearing: 297.274948 deg,
      lat: 36.779384 deg,
      lon: -121.859403 deg,
      deltaT: 3.277347 s,
      deltaX: 1.591181 m,
      approachRate: 0.485509 m/s,
      posRepo size: 4

2025-08-21T07:03:49.116Z,1755759829.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.70 m.
2025-08-21T07:03:49.498Z,1755759829.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.70 m.
2025-08-21T07:03:49.920Z,1755759829.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.70 m.
2025-08-21T07:03:50.290Z,1755759830.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:50.293Z,1755759830.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.70 m.
2025-08-21T07:03:50.408Z,1755759830.408 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:50.408Z,1755759830.408 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:50.409Z,1755759830.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:50.660Z,1755759830.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241930
2025-08-21T07:03:50.913Z,1755759830.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494672
2025-08-21T07:03:51.132Z,1755759831.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 4.70 m.
2025-08-21T07:03:51.165Z,1755759831.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746669
2025-08-21T07:03:51.416Z,1755759831.416 [DAT](INFO): DAT read: Rx Time:07:03:50.1835

2025-08-21T07:03:51.417Z,1755759831.417 [DAT](INFO): Rx dataTimestamp_ set to:1755759831.416401
2025-08-21T07:03:51.417Z,1755759831.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998990
2025-08-21T07:03:51.525Z,1755759831.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.70 m.
2025-08-21T07:03:51.668Z,1755759831.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250069
2025-08-21T07:03:51.932Z,1755759831.932 [DAT](INFO): DAT read: 07:03:50.1835 LVL= 32752, 19841, 24802, 32755, AGC= 48, IDX= 450, 0.05, 2.541,-1.383,-2.767,-2.442, PHS=-1.198, 1.104,-0.369, RAW= 309.2,   4.6, CAL= 306.8,   2.5, ROT= 203.2,  -2.5

2025-08-21T07:03:51.933Z,1755759831.933 [DAT](INFO): got valid direction response:
 07:03:50.1835 LVL= 32752, 19841, 24802, 32755, AGC= 48, IDX= 450, 0.05, 2.541,-1.383,-2.767,-2.442, PHS=-1.198, 1.104,-0.369, RAW= 309.2,   4.6, CAL= 306.8,   2.5, ROT= 203.2,  -2.5

2025-08-21T07:03:51.934Z,1755759831.934 [DAT](INFO): DAT read: Bearing  74.6, -20.8 (Local)

2025-08-21T07:03:51.934Z,1755759831.934 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.6, -20.8 (Local)

2025-08-21T07:03:51.940Z,1755759831.940 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m  (Round-trip  8.3 ms) speed -0.4 m/s

2025-08-21T07:03:51.941Z,1755759831.941 [DAT](INFO): DAT read: user:2083>

2025-08-21T07:03:51.941Z,1755759831.941 [DAT](INFO): DAT read: Tx time:07:03:51.3210

2025-08-21T07:03:51.942Z,1755759831.942 [DAT](INFO): Ping request sent.
2025-08-21T07:03:51.942Z,1755759831.942 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:51.942Z,1755759831.942 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:51.951Z,1755759831.951 [DAT](INFO): direction in FSK: [-0.918261,-0.393567,0.043619]
2025-08-21T07:03:51.952Z,1755759831.952 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:51.952Z,1755759831.952 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:51.963Z,1755759831.963 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:51.963Z,1755759831.963 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:52.058Z,1755759832.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 3.525618 s,
      deltaX: 1.500000 m,
      approachRate: 0.425457 m/s,
      rangeRepo size: 4

2025-08-21T07:03:52.064Z,1755759832.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.165851 m,
      bearing: 291.544320 deg,
      lat: 36.779384 deg,
      lon: -121.859403 deg,
      deltaT: 3.525618 s,
      deltaX: 1.491756 m,
      approachRate: 0.423119 m/s,
      posRepo size: 4

2025-08-21T07:03:52.065Z,1755759832.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 6.20 m.
2025-08-21T07:03:52.395Z,1755759832.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:52.424Z,1755759832.424 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:03:52.424Z,1755759832.424 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:03:52.424Z,1755759832.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:03:52.676Z,1755759832.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.734332
2025-08-21T07:03:52.929Z,1755759832.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.986688
2025-08-21T07:03:53.180Z,1755759833.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.238438
2025-08-21T07:03:53.432Z,1755759833.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490410
2025-08-21T07:03:53.685Z,1755759833.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742933
2025-08-21T07:03:53.936Z,1755759833.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994590
2025-08-21T07:03:54.188Z,1755759834.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246498
2025-08-21T07:03:54.422Z,1755759834.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:03:54.440Z,1755759834.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498415
2025-08-21T07:03:54.693Z,1755759834.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751257
2025-08-21T07:03:54.950Z,1755759834.950 [DAT](INFO): DAT read: Rx Time:07:03:53.7355

2025-08-21T07:03:54.950Z,1755759834.950 [DAT](INFO): Rx dataTimestamp_ set to:1755759834.949864
2025-08-21T07:03:54.951Z,1755759834.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008802
2025-08-21T07:03:55.202Z,1755759835.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259578
2025-08-21T07:03:55.461Z,1755759835.461 [DAT](INFO): DAT read: 07:03:53.7355 LVL= 32752, 22193, 28322, 32755, AGC= 53, IDX= 438,-0.38,-2.690,-0.439,-1.653,-1.446, PHS=-1.142, 1.053,-0.251, RAW= 306.2,   3.6, CAL= 303.8,   0.2, ROT= 206.2,  -0.2

2025-08-21T07:03:55.462Z,1755759835.462 [DAT](INFO): got valid direction response:
 07:03:53.7355 LVL= 32752, 22193, 28322, 32755, AGC= 53, IDX= 438,-0.38,-2.690,-0.439,-1.653,-1.446, PHS=-1.142, 1.053,-0.251, RAW= 306.2,   3.6, CAL= 303.8,   0.2, ROT= 206.2,  -0.2

2025-08-21T07:03:55.463Z,1755759835.463 [DAT](INFO): DAT read: Bearing  74.3, -22.7 (Local)

2025-08-21T07:03:55.470Z,1755759835.470 [DAT](INFO): Local bearing/azimuth received:
 Bearing  74.3, -22.7 (Local)

2025-08-21T07:03:55.483Z,1755759835.483 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m  (Round-trip  10.3 ms) speed -0.4 m/s

2025-08-21T07:03:55.484Z,1755759835.484 [DAT](INFO): DAT read: user:2084>

2025-08-21T07:03:55.485Z,1755759835.485 [DAT](INFO): DAT read: Tx time:07:03:54.8710

2025-08-21T07:03:55.486Z,1755759835.486 [DAT](INFO): Ping request sent.
2025-08-21T07:03:55.486Z,1755759835.486 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:55.486Z,1755759835.486 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:03:55.504Z,1755759835.504 [DAT](INFO): direction in FSK: [-0.897253,-0.441503,0.003491]
2025-08-21T07:03:55.504Z,1755759835.504 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:55.505Z,1755759835.505 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:55.521Z,1755759835.521 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:55.521Z,1755759835.521 [DAT](INFO): publishing direction and range info
2025-08-21T07:03:55.672Z,1755759835.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.700000 m,
      deltaT: 3.534082 s,
      deltaX: 1.500000 m,
      approachRate: 0.424438 m/s,
      rangeRepo size: 4

2025-08-21T07:03:55.674Z,1755759835.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.657595 m,
      bearing: 292.923011 deg,
      lat: 36.779384 deg,
      lon: -121.859403 deg,
      deltaT: 3.534082 s,
      deltaX: 1.491745 m,
      approachRate: 0.422102 m/s,
      posRepo size: 4

2025-08-21T07:03:55.675Z,1755759835.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 7.70 m. Rolling out.
2025-08-21T07:03:55.679Z,1755759835.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-08-21T07:03:55.730Z,1755759835.730 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T07:03:56.084Z,1755759836.084 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-08-21T07:03:56.084Z,1755759836.084 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-21T07:03:56.084Z,1755759836.084 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-08-21T07:03:56.085Z,1755759836.085 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period  60.000000 s sec at 7.700000 m (mode  5.000000 count ).
2025-08-21T07:03:56.086Z,1755759836.086 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-08-21T07:03:56.086Z,1755759836.086 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-08-21T07:03:56.088Z,1755759836.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:03:56.090Z,1755759836.090 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-21T07:03:56.090Z,1755759836.090 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-21T07:03:56.090Z,1755759836.090 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-21T07:03:56.091Z,1755759836.091 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-21T07:03:56.461Z,1755759836.461 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-08-21T07:03:56.461Z,1755759836.461 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-08-21T07:03:56.465Z,1755759836.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:03:56.934Z,1755759836.934 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-08-21T07:03:56.934Z,1755759836.934 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-08-21T07:03:56.948Z,1755759836.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:03:57.290Z,1755759837.290 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-08-21T07:03:57.290Z,1755759837.290 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-21T07:03:57.290Z,1755759837.290 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-08-21T07:03:57.290Z,1755759837.290 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-08-21T07:03:57.293Z,1755759837.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:03:57.704Z,1755759837.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:03:58.295Z,1755759838.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:03:58.480Z,1755759838.480 [DAT](INFO): DAT read: Rx Time:07:03:57.2875

2025-08-21T07:03:58.481Z,1755759838.481 [DAT](INFO): Rx dataTimestamp_ set to:1755759838.480524
2025-08-21T07:03:58.706Z,1755759838.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:03:59.001Z,1755759839.001 [DAT](INFO): DAT read: 07:03:57.2875 LVL= 32752, 24513, 28658, 32755, AGC= 52, IDX= 443, 0.30,-1.344, 0.990,-0.323,-0.034, PHS=-1.207, 1.069,-0.332, RAW= 307.6,   4.8, CAL= 305.2,   2.6, .8,  -2.6
  70.7, -20.5 (Local)

2025-08-21T07:03:59.002Z,1755759839.002 [DAT](INFO): Local bearing/azimuth received:
 07:03:57.2875 LVL= 32752, 24513, 28658, 32755, AGC= 52, IDX= 443, 0.30,-1.344, 0.990,-0.323,-0.034, PHS=-1.207, 1.069,-0.332, RAW= 307.6,   4.8, CAL= 305.2,   2.6, .8,  -2.6
  70.7, -20.5 (Local)

2025-08-21T07:03:59.003Z,1755759839.003 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m  (Round-trip  12.4 ms) speed -0.4 m/s

2025-08-21T07:03:59.004Z,1755759839.004 [DAT](INFO): DAT read: user:2085>

2025-08-21T07:03:59.004Z,1755759839.004 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-08-21T07:03:59.206Z,1755759839.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 3.531800 s,
      deltaX: 1.600000 m,
      approachRate: 0.453027 m/s,
      rangeRepo size: 4

2025-08-21T07:03:59.206Z,1755759839.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:03:59.236Z,1755759839.236 [DAT](INFO): DAT read: Tx time:07:03:58.4210

2025-08-21T07:03:59.237Z,1755759839.237 [DAT](INFO): Ping request sent.
2025-08-21T07:03:59.237Z,1755759839.237 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:03:59.237Z,1755759839.237 [DAT](INFO): publishing transmit ping time
2025-08-21T07:03:59.561Z,1755759839.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:04:00.009Z,1755759840.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:04:00.366Z,1755759840.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:04:00.761Z,1755759840.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:04:01.251Z,1755759841.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:04:01.669Z,1755759841.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:04:02.013Z,1755759842.013 [DAT](INFO): DAT read: Rx Time:07:04:00.8395

2025-08-21T07:04:02.013Z,1755759842.013 [DAT](INFO): Rx dataTimestamp_ set to:1755759842.012859
2025-08-21T07:04:02.100Z,1755759842.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:04:02.468Z,1755759842.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m.
2025-08-21T07:04:02.774Z,1755759842.774 [DAT](INFO): DAT read: 07:04:00.8395 LVL= 32752, 22209, 30274, 32755, AGC= 56, IDX= 447,-0.29, 1.654,-2.310, 2.592, 2.954, PHS=-1.198, 1.064,-0.406, RAW= 309.8,   5.5, CAL= 307.5,   4.1, ROT= 202.5,  -4.1

2025-08-21T07:04:02.775Z,1755759842.775 [DAT](INFO): got valid direction response:
 07:04:00.8395 LVL= 32752, 22209, 30274, 32755, AGC= 56, IDX= 447,-0.29, 1.654,-2.310, 2.592, 2.954, PHS=-1.198, 1.064,-0.406, RAW= 309.8,   5.5, CAL= 307.5,   4.1, ROT= 202.5,  -4.1

2025-08-21T07:04:02.776Z,1755759842.776 [DAT](INFO): DAT read: Bearing  68.3, -18.0 (Local)

2025-08-21T07:04:02.776Z,1755759842.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing  68.3, -18.0 (Local)

2025-08-21T07:04:02.778Z,1755759842.778 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m  (Round-trip  14.3 ms) speed -0.4 m/s

2025-08-21T07:04:02.778Z,1755759842.778 [DAT](INFO): DAT read: user:2086>

2025-08-21T07:04:02.779Z,1755759842.779 [DAT](INFO): DAT read: Tx time:07:04:01.9710

2025-08-21T07:04:02.780Z,1755759842.780 [DAT](INFO): Ping request sent.
2025-08-21T07:04:02.780Z,1755759842.780 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:02.780Z,1755759842.780 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-21T07:04:02.781Z,1755759842.781 [DAT](INFO): direction in FSK: [-0.921515,-0.381704,0.071497]
2025-08-21T07:04:02.781Z,1755759842.781 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:02.781Z,1755759842.781 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:02.785Z,1755759842.785 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:02.785Z,1755759842.785 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:02.953Z,1755759842.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 3.781997 s,
      deltaX: 1.400000 m,
      approachRate: 0.370175 m/s,
      rangeRepo size: 4

2025-08-21T07:04:02.971Z,1755759842.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.641102 m,
      bearing: 288.835016 deg,
      lat: 36.779384 deg,
      lon: -121.859403 deg,
      deltaT: 7.313797 s,
      deltaX: 2.983507 m,
      approachRate: 0.407929 m/s,
      posRepo size: 4

2025-08-21T07:04:02.993Z,1755759842.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-08-21T07:04:03.476Z,1755759843.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-08-21T07:04:03.812Z,1755759843.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-08-21T07:04:04.258Z,1755759844.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-08-21T07:04:04.412Z,1755759844.412 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:04:04.630Z,1755759844.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-08-21T07:04:05.137Z,1755759845.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-08-21T07:04:05.415Z,1755759845.415 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:04:05.444Z,1755759845.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-08-21T07:04:05.540Z,1755759845.540 [DAT](INFO): DAT read: Rx Time:07:04:04.3911

2025-08-21T07:04:05.541Z,1755759845.541 [DAT](INFO): Rx dataTimestamp_ set to:1755759845.540522
2025-08-21T07:04:05.837Z,1755759845.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-08-21T07:04:06.280Z,1755759846.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m.
2025-08-21T07:04:06.302Z,1755759846.302 [DAT](INFO): DAT read: 07:04:04.3911 LVL= 32752, 19953, 32754, 32755, AGC= 58, IDX= 463,-0.18,-2.279, 0.023,-1.373,-0.989, PHS=-1.187, 1.057,-0.428, RAW= 310.6,   5.7, CAL= 308.3,   4.5, ROT= 201.7,  -4.5

2025-08-21T07:04:06.303Z,1755759846.303 [DAT](INFO): got valid direction response:
 07:04:04.3911 LVL= 32752, 19953, 32754, 32755, AGC= 58, IDX= 463,-0.18,-2.279, 0.023,-1.373,-0.989, PHS=-1.187, 1.057,-0.428, RAW= 310.6,   5.7, CAL= 308.3,   4.5, ROT= 201.7,  -4.5

2025-08-21T07:04:06.304Z,1755759846.304 [DAT](INFO): DAT read: Bearing  67.4, -17.6 (Local)

2025-08-21T07:04:06.305Z,1755759846.305 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.4, -17.6 (Local)

2025-08-21T07:04:06.306Z,1755759846.306 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m  (Round-trip  15.9 ms) speed -0.3 m/s

2025-08-21T07:04:06.307Z,1755759846.307 [DAT](INFO): DAT read: user:2087>

2025-08-21T07:04:06.308Z,1755759846.308 [DAT](INFO): DAT read: Tx time:07:04:05.5210

2025-08-21T07:04:06.308Z,1755759846.308 [DAT](INFO): Ping request sent.
2025-08-21T07:04:06.308Z,1755759846.308 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:06.308Z,1755759846.308 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-21T07:04:06.309Z,1755759846.309 [DAT](INFO): direction in FSK: [-0.926268,-0.368607,0.078459]
2025-08-21T07:04:06.310Z,1755759846.310 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:06.310Z,1755759846.310 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:06.317Z,1755759846.317 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:06.317Z,1755759846.317 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:06.653Z,1755759846.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 3.528177 s,
      deltaX: 1.200000 m,
      approachRate: 0.340119 m/s,
      rangeRepo size: 4

2025-08-21T07:04:06.656Z,1755759846.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.834506 m,
      bearing: 287.663397 deg,
      lat: 36.779390 deg,
      lon: -121.859403 deg,
      deltaT: 3.528177 s,
      deltaX: 1.193404 m,
      approachRate: 0.338250 m/s,
      posRepo size: 4

2025-08-21T07:04:06.656Z,1755759846.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-21T07:04:07.111Z,1755759847.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-21T07:04:07.446Z,1755759847.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-21T07:04:07.861Z,1755759847.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-21T07:04:08.280Z,1755759848.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-21T07:04:08.659Z,1755759848.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-21T07:04:09.075Z,1755759849.075 [DAT](INFO): DAT read: Rx Time:07:04:07.9423

2025-08-21T07:04:09.076Z,1755759849.076 [DAT](INFO): Rx dataTimestamp_ set to:1755759849.075495
2025-08-21T07:04:09.155Z,1755759849.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-21T07:04:09.553Z,1755759849.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m.
2025-08-21T07:04:09.840Z,1755759849.840 [DAT](INFO): DAT read: 07:04:07.9423 LVL= 32752, 22993, 29522, 32755, AGC= 59, IDX= 445, 0.28, 2.976,-1.038,-2.450,-2.047, PHS=-1.159, 1.053,-0.448, RAW= 311.7,   5.7, CAL= 309.4,   4.6, ROT= 200.6,  -4.6

2025-08-21T07:04:09.841Z,1755759849.841 [DAT](INFO): got valid direction response:
 07:04:07.9423 LVL= 32752, 22993, 29522, 32755, AGC= 59, IDX= 445, 0.28, 2.976,-1.038,-2.450,-2.047, PHS=-1.159, 1.053,-0.448, RAW= 311.7,   5.7, CAL= 309.4,   4.6, ROT= 200.6,  -4.6

2025-08-21T07:04:09.842Z,1755759849.842 [DAT](INFO): DAT read: Bearing  67.1, -17.2 (Local)

2025-08-21T07:04:09.842Z,1755759849.842 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.1, -17.2 (Local)

2025-08-21T07:04:09.856Z,1755759849.856 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m  (Round-trip  17.2 ms) speed -0.2 m/s

2025-08-21T07:04:09.857Z,1755759849.857 [DAT](INFO): DAT read: user:2088>

2025-08-21T07:04:09.857Z,1755759849.857 [DAT](INFO): DAT read: Tx time:07:04:09.0709

2025-08-21T07:04:09.858Z,1755759849.858 [DAT](INFO): Ping request sent.
2025-08-21T07:04:09.858Z,1755759849.858 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:09.858Z,1755759849.858 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-21T07:04:09.867Z,1755759849.867 [DAT](INFO): direction in FSK: [-0.933044,-0.350708,0.080199]
2025-08-21T07:04:09.868Z,1755759849.868 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:09.868Z,1755759849.868 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:09.871Z,1755759849.871 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:09.883Z,1755759849.883 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:09.937Z,1755759849.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.900000 m,
      deltaT: 3.531828 s,
      deltaX: 1.000000 m,
      approachRate: 0.283139 m/s,
      rangeRepo size: 4

2025-08-21T07:04:09.943Z,1755759849.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.828985 m,
      bearing: 286.384578 deg,
      lat: 36.779394 deg,
      lon: -121.859403 deg,
      deltaT: 3.531828 s,
      deltaX: 0.994479 m,
      approachRate: 0.281576 m/s,
      posRepo size: 4

2025-08-21T07:04:09.944Z,1755759849.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:04:10.293Z,1755759850.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:04:10.697Z,1755759850.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:04:11.151Z,1755759851.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:04:11.520Z,1755759851.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:04:11.889Z,1755759851.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:04:12.313Z,1755759852.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:04:12.713Z,1755759852.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:04:12.852Z,1755759852.852 [DAT](INFO): DAT read: Rx Time:07:04:11.4933

2025-08-21T07:04:12.853Z,1755759852.853 [DAT](INFO): Rx dataTimestamp_ set to:1755759852.852670
2025-08-21T07:04:13.221Z,1755759853.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m.
2025-08-21T07:04:13.366Z,1755759853.366 [DAT](INFO): DAT read: 07:04:11.4933 LVL= 32752, 23457, 28402, 32755, AGC= 58, IDX= 440,-0.27, 0.299, 2.467, 1.186, 1.512, PHS=-1.111, 1.000,-0.370, RAW= 309.8,   5.2, CAL= 307.5,   3.6, ROT= 202.5,  -3.6

2025-08-21T07:04:13.367Z,1755759853.367 [DAT](INFO): got valid direction response:
 07:04:11.4933 LVL= 32752, 23457, 28402, 32755, AGC= 58, IDX= 440,-0.27, 0.299, 2.467, 1.186, 1.512, PHS=-1.111, 1.000,-0.370, RAW= 309.8,   5.2, CAL= 307.5,   3.6, ROT= 202.5,  -3.6

2025-08-21T07:04:13.368Z,1755759853.368 [DAT](INFO): DAT read: Bearing  67.7, -20.2 (Local)

2025-08-21T07:04:13.368Z,1755759853.368 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.7, -20.2 (Local)

2025-08-21T07:04:13.370Z,1755759853.370 [DAT](INFO): DAT read: Range 11 to 50 : 13.6 m  (Round-trip  18.2 ms) speed -0.2 m/s

2025-08-21T07:04:13.370Z,1755759853.370 [DAT](INFO): DAT read: user:2089>

2025-08-21T07:04:13.371Z,1755759853.371 [DAT](INFO): DAT read: Tx time:07:04:12.6209

2025-08-21T07:04:13.372Z,1755759853.372 [DAT](INFO): Ping request sent.
2025-08-21T07:04:13.372Z,1755759853.372 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:13.372Z,1755759853.372 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-21T07:04:13.373Z,1755759853.373 [DAT](INFO): direction in FSK: [-0.922056,-0.381928,0.062791]
2025-08-21T07:04:13.373Z,1755759853.373 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:13.374Z,1755759853.374 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:13.377Z,1755759853.377 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:13.377Z,1755759853.377 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:13.594Z,1755759853.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.600000 m,
      deltaT: 3.529938 s,
      deltaX: 0.700001 m,
      approachRate: 0.198304 m/s,
      rangeRepo size: 4

2025-08-21T07:04:13.601Z,1755759853.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.525142 m,
      bearing: 287.870465 deg,
      lat: 36.779396 deg,
      lon: -121.859401 deg,
      deltaT: 3.529938 s,
      deltaX: 0.696157 m,
      approachRate: 0.197215 m/s,
      posRepo size: 4

2025-08-21T07:04:13.601Z,1755759853.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.53 m.
2025-08-21T07:04:13.942Z,1755759853.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.53 m.
2025-08-21T07:04:14.350Z,1755759854.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.53 m.
2025-08-21T07:04:14.719Z,1755759854.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.53 m.
2025-08-21T07:04:15.151Z,1755759855.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.53 m.
2025-08-21T07:04:15.558Z,1755759855.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.53 m.
2025-08-21T07:04:15.926Z,1755759855.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.53 m.
2025-08-21T07:04:16.377Z,1755759856.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.53 m.
2025-08-21T07:04:16.380Z,1755759856.380 [DAT](INFO): DAT read: Rx Time:07:04:15.0444

2025-08-21T07:04:16.381Z,1755759856.381 [DAT](INFO): Rx dataTimestamp_ set to:1755759856.380534
2025-08-21T07:04:16.794Z,1755759856.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.53 m.
2025-08-21T07:04:16.890Z,1755759856.890 [DAT](INFO): DAT read: 07:04:15.0444 LVL= 32752, 20001, 28530, 32755, AGC= 60, IDX= 434,-0.23,-1.160, 1.117,-0.263, 0.100, PHS=-1.158, 1.062,-0.407, RAW= 310.6,   5.2, CAL= 308.3,   3.6, ROT= 201.7,  -3.6

2025-08-21T07:04:16.891Z,1755759856.891 [DAT](INFO): got valid direction response:
 07:04:15.0444 LVL= 32752, 20001, 28530, 32755, AGC= 60, IDX= 434,-0.23,-1.160, 1.117,-0.263, 0.100, PHS=-1.158, 1.062,-0.407, RAW= 310.6,   5.2, CAL= 308.3,   3.6, ROT= 201.7,  -3.6

2025-08-21T07:04:16.892Z,1755759856.892 [DAT](INFO): DAT read: Bearing  67.7, -20.0 (Local)

2025-08-21T07:04:16.892Z,1755759856.892 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.7, -20.0 (Local)

2025-08-21T07:04:16.894Z,1755759856.894 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m  (Round-trip  19.3 ms) speed -0.2 m/s

2025-08-21T07:04:16.895Z,1755759856.895 [DAT](INFO): DAT read: user:2090>

2025-08-21T07:04:16.895Z,1755759856.895 [DAT](INFO): DAT read: Tx time:07:04:16.1709

2025-08-21T07:04:16.896Z,1755759856.896 [DAT](INFO): Ping request sent.
2025-08-21T07:04:16.896Z,1755759856.896 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:16.896Z,1755759856.896 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-21T07:04:16.897Z,1755759856.897 [DAT](INFO): direction in FSK: [-0.927299,-0.369017,0.062791]
2025-08-21T07:04:16.897Z,1755759856.897 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:16.898Z,1755759856.898 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:16.901Z,1755759856.901 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:16.901Z,1755759856.901 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:17.230Z,1755759857.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.400000 m,
      deltaT: 3.526118 s,
      deltaX: 0.799999 m,
      approachRate: 0.226878 m/s,
      rangeRepo size: 4

2025-08-21T07:04:17.245Z,1755759857.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.320717 m,
      bearing: 286.744127 deg,
      lat: 36.779397 deg,
      lon: -121.859401 deg,
      deltaT: 3.526118 s,
      deltaX: 0.795575 m,
      approachRate: 0.225624 m/s,
      posRepo size: 4

2025-08-21T07:04:17.245Z,1755759857.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T07:04:17.624Z,1755759857.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T07:04:17.945Z,1755759857.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T07:04:18.403Z,1755759858.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T07:04:18.769Z,1755759858.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T07:04:19.280Z,1755759859.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T07:04:19.618Z,1755759859.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T07:04:19.920Z,1755759859.920 [DAT](INFO): DAT read: Rx Time:07:04:18.5953

2025-08-21T07:04:19.921Z,1755759859.921 [DAT](INFO): Rx dataTimestamp_ set to:1755759859.920466
2025-08-21T07:04:19.987Z,1755759859.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T07:04:20.413Z,1755759860.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m.
2025-08-21T07:04:20.430Z,1755759860.430 [DAT](INFO): DAT read: 07:04:18.5953 LVL= 32752, 24721, 27666, 32755, AGC= 59, IDX= 427, 0.46,-0.359, 1.917, 0.581, 0.852, PHS=-1.108, 1.110,-0.315, RAW= 309.3,   3.3, CAL= 306.9,   0.1, ROT= 203.1,  -0.1

2025-08-21T07:04:20.431Z,1755759860.431 [DAT](INFO): got valid direction response:
 07:04:18.5953 LVL= 32752, 24721, 27666, 32755, AGC= 59, IDX= 427, 0.46,-0.359, 1.917, 0.581, 0.852, PHS=-1.108, 1.110,-0.315, RAW= 309.3,   3.3, CAL= 306.9,   0.1, ROT= 203.1,  -0.1

2025-08-21T07:04:20.432Z,1755759860.432 [DAT](INFO): DAT read: Bearing  71.1, -22.4 (Local)

2025-08-21T07:04:20.433Z,1755759860.433 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.1, -22.4 (Local)

2025-08-21T07:04:20.434Z,1755759860.434 [DAT](INFO): DAT read: Range 11 to 50 : 15.1 m  (Round-trip  20.2 ms) speed -0.2 m/s

2025-08-21T07:04:20.435Z,1755759860.435 [DAT](INFO): DAT read: user:2091>

2025-08-21T07:04:20.436Z,1755759860.436 [DAT](INFO): DAT read: Tx time:07:04:19.7209

2025-08-21T07:04:20.436Z,1755759860.436 [DAT](INFO): Ping request sent.
2025-08-21T07:04:20.436Z,1755759860.436 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:20.436Z,1755759860.436 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-21T07:04:20.437Z,1755759860.437 [DAT](INFO): direction in FSK: [-0.919820,-0.392337,0.001745]
2025-08-21T07:04:20.437Z,1755759860.437 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:20.438Z,1755759860.438 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:20.457Z,1755759860.457 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:20.457Z,1755759860.457 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:20.787Z,1755759860.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.100000 m,
      deltaT: 3.540094 s,
      deltaX: 0.700001 m,
      approachRate: 0.197735 m/s,
      rangeRepo size: 4

2025-08-21T07:04:20.789Z,1755759860.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.016889 m,
      bearing: 287.539342 deg,
      lat: 36.779401 deg,
      lon: -121.859401 deg,
      deltaT: 3.540094 s,
      deltaX: 0.696172 m,
      approachRate: 0.196653 m/s,
      posRepo size: 4

2025-08-21T07:04:20.790Z,1755759860.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.02 m.
2025-08-21T07:04:21.204Z,1755759861.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.02 m.
2025-08-21T07:04:21.637Z,1755759861.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.02 m.
2025-08-21T07:04:21.990Z,1755759861.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.02 m.
2025-08-21T07:04:22.414Z,1755759862.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.02 m.
2025-08-21T07:04:22.810Z,1755759862.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.02 m.
2025-08-21T07:04:23.207Z,1755759863.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.02 m.
2025-08-21T07:04:23.461Z,1755759863.461 [DAT](INFO): DAT read: Rx Time:07:04:22.1460

2025-08-21T07:04:23.461Z,1755759863.461 [DAT](INFO): Rx dataTimestamp_ set to:1755759863.460802
2025-08-21T07:04:23.666Z,1755759863.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.02 m.
2025-08-21T07:04:23.970Z,1755759863.970 [DAT](INFO): DAT read: 07:04:22.1460 LVL= 32752, 20977, 28146, 32755, AGC= 61, IDX= 435,-0.10,-2.829,-0.586,-1.819,-1.615, PHS=-1.112, 1.074,-0.247, RAW= 306.9,   3.0, CAL= 304.5,  -0.4, ROT= 205.5,   0.4

2025-08-21T07:04:23.971Z,1755759863.971 [DAT](INFO): got valid direction response:
 07:04:22.1460 LVL= 32752, 20977, 28146, 32755, AGC= 61, IDX= 435,-0.10,-2.829,-0.586,-1.819,-1.615, PHS=-1.112, 1.074,-0.247, RAW= 306.9,   3.0, CAL= 304.5,  -0.4, ROT= 205.5,   0.4

2025-08-21T07:04:23.976Z,1755759863.976 [DAT](INFO): DAT read: Bearing  71.1, -25.4 (Local)

2025-08-21T07:04:23.976Z,1755759863.976 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.1, -25.4 (Local)

2025-08-21T07:04:23.978Z,1755759863.978 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m  (Round-trip  20.9 ms) speed -0.1 m/s

2025-08-21T07:04:23.978Z,1755759863.978 [DAT](INFO): DAT read: user:2092>

2025-08-21T07:04:23.980Z,1755759863.980 [DAT](INFO): DAT read: Tx time:07:04:23.2709

2025-08-21T07:04:23.980Z,1755759863.980 [DAT](INFO): Ping request sent.
2025-08-21T07:04:23.980Z,1755759863.980 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:23.980Z,1755759863.980 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-21T07:04:23.981Z,1755759863.981 [DAT](INFO): direction in FSK: [-0.902563,-0.430501,-0.006981]
2025-08-21T07:04:23.982Z,1755759863.982 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:23.982Z,1755759863.982 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:24.021Z,1755759864.021 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:24.021Z,1755759864.021 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:24.133Z,1755759864.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 3.539868 s,
      deltaX: 0.500000 m,
      approachRate: 0.141248 m/s,
      rangeRepo size: 4

2025-08-21T07:04:24.145Z,1755759864.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.514057 m,
      bearing: 289.618604 deg,
      lat: 36.779402 deg,
      lon: -121.859400 deg,
      deltaT: 3.539868 s,
      deltaX: 0.497169 m,
      approachRate: 0.140448 m/s,
      posRepo size: 4

2025-08-21T07:04:24.146Z,1755759864.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-08-21T07:04:24.453Z,1755759864.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-08-21T07:04:24.828Z,1755759864.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-08-21T07:04:25.239Z,1755759865.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-08-21T07:04:25.686Z,1755759865.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-08-21T07:04:26.044Z,1755759866.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-08-21T07:04:26.467Z,1755759866.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-08-21T07:04:26.849Z,1755759866.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-08-21T07:04:26.988Z,1755759866.988 [DAT](INFO): DAT read: Rx Time:07:04:25.6966

2025-08-21T07:04:26.989Z,1755759866.989 [DAT](INFO): Rx dataTimestamp_ set to:1755759866.988409
2025-08-21T07:04:27.251Z,1755759867.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m.
2025-08-21T07:04:27.498Z,1755759867.498 [DAT](INFO): DAT read: 07:04:25.6966 LVL= 32752, 20625, 25538, 32755, AGC= 58, IDX= 425, 0.28,-1.346, 0.920,-0.349,-0.149, PHS=-1.096, 1.114,-0.244, RAW= 307.5,   2.4, CAL= 305.3,  -1.0, ROT= 204.7,   1.0

2025-08-21T07:04:27.499Z,1755759867.499 [DAT](INFO): got valid direction response:
 07:04:25.6966 LVL= 32752, 20625, 25538, 32755, AGC= 58, IDX= 425, 0.28,-1.346, 0.920,-0.349,-0.149, PHS=-1.096, 1.114,-0.244, RAW= 307.5,   2.4, CAL= 305.3,  -1.0, ROT= 204.7,   1.0

2025-08-21T07:04:27.500Z,1755759867.500 [DAT](INFO): DAT read: Bearing  71.6, -25.0 (Local)

2025-08-21T07:04:27.500Z,1755759867.500 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.6, -25.0 (Local)

2025-08-21T07:04:27.502Z,1755759867.502 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m  (Round-trip  21.5 ms) speed -0.1 m/s

2025-08-21T07:04:27.502Z,1755759867.502 [DAT](INFO): DAT read: user:2093>

2025-08-21T07:04:27.504Z,1755759867.504 [DAT](INFO): DAT read: Tx time:07:04:26.8209

2025-08-21T07:04:27.504Z,1755759867.504 [DAT](INFO): Ping request sent.
2025-08-21T07:04:27.504Z,1755759867.504 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:27.505Z,1755759867.505 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-21T07:04:27.506Z,1755759867.506 [DAT](INFO): direction in FSK: [-0.908370,-0.417803,-0.017452]
2025-08-21T07:04:27.506Z,1755759867.506 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:27.506Z,1755759867.506 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:27.509Z,1755759867.509 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:27.509Z,1755759867.509 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:27.748Z,1755759867.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 3.527987 s,
      deltaX: 0.500000 m,
      approachRate: 0.141724 m/s,
      rangeRepo size: 4

2025-08-21T07:04:27.750Z,1755759867.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.011332 m,
      bearing: 288.639606 deg,
      lat: 36.779405 deg,
      lon: -121.859400 deg,
      deltaT: 3.527987 s,
      deltaX: 0.497274 m,
      approachRate: 0.140951 m/s,
      posRepo size: 4

2025-08-21T07:04:27.750Z,1755759867.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-08-21T07:04:28.101Z,1755759868.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-08-21T07:04:28.526Z,1755759868.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-08-21T07:04:28.878Z,1755759868.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-08-21T07:04:29.272Z,1755759869.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-08-21T07:04:29.814Z,1755759869.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-08-21T07:04:30.087Z,1755759870.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-08-21T07:04:30.505Z,1755759870.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-08-21T07:04:30.516Z,1755759870.516 [DAT](INFO): DAT read: Rx Time:07:04:29.2471

2025-08-21T07:04:30.517Z,1755759870.517 [DAT](INFO): Rx dataTimestamp_ set to:1755759870.516616
2025-08-21T07:04:30.899Z,1755759870.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m.
2025-08-21T07:04:31.030Z,1755759871.030 [DAT](INFO): DAT read: 07:04:29.2471 LVL= 32752, 18225, 26082, 32755, AGC= 62, IDX= 431,-0.13, 2.791,-1.259,-2.499,-2.289, PHS=-1.102, 1.075,-0.254, RAW= 307.3,   3.0, CAL= 304.9,  -0.4, ROT= 205.1,   0.4

2025-08-21T07:04:31.032Z,1755759871.032 [DAT](INFO): got valid direction response:
 07:04:29.2471 LVL= 32752, 18225, 26082, 32755, AGC= 62, IDX= 431,-0.13, 2.791,-1.259,-2.499,-2.289, PHS=-1.102, 1.075,-0.254, RAW= 307.3,   3.0, CAL= 304.9,  -0.4, ROT= 205.1,   0.4

2025-08-21T07:04:31.033Z,1755759871.033 [DAT](INFO): DAT read: Bearing  70.6, -25.7 (Local)

2025-08-21T07:04:31.034Z,1755759871.034 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.6, -25.7 (Local)

2025-08-21T07:04:31.035Z,1755759871.035 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m  (Round-trip  22.1 ms) speed -0.1 m/s

2025-08-21T07:04:31.036Z,1755759871.036 [DAT](INFO): DAT read: user:2094>

2025-08-21T07:04:31.037Z,1755759871.037 [DAT](INFO): DAT read: Tx time:07:04:30.3708

2025-08-21T07:04:31.037Z,1755759871.037 [DAT](INFO): Ping request sent.
2025-08-21T07:04:31.037Z,1755759871.037 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:31.037Z,1755759871.037 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-21T07:04:31.038Z,1755759871.038 [DAT](INFO): direction in FSK: [-0.905547,-0.424189,-0.006981]
2025-08-21T07:04:31.039Z,1755759871.039 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:31.039Z,1755759871.039 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:31.042Z,1755759871.042 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:31.042Z,1755759871.042 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:31.308Z,1755759871.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.500000 m,
      deltaT: 3.528844 s,
      deltaX: 0.400000 m,
      approachRate: 0.113351 m/s,
      rangeRepo size: 4

2025-08-21T07:04:31.310Z,1755759871.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.409063 m,
      bearing: 288.983843 deg,
      lat: 36.779411 deg,
      lon: -121.859399 deg,
      deltaT: 3.528844 s,
      deltaX: 0.397732 m,
      approachRate: 0.112709 m/s,
      posRepo size: 4

2025-08-21T07:04:31.311Z,1755759871.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:04:31.770Z,1755759871.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:04:32.130Z,1755759872.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:04:32.552Z,1755759872.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:04:32.924Z,1755759872.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:04:33.347Z,1755759873.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:04:33.771Z,1755759873.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:04:34.057Z,1755759874.057 [DAT](INFO): DAT read: Rx Time:07:04:32.7975

2025-08-21T07:04:34.057Z,1755759874.057 [DAT](INFO): Rx dataTimestamp_ set to:1755759874.056910
2025-08-21T07:04:34.185Z,1755759874.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m.
2025-08-21T07:04:34.566Z,1755759874.566 [DAT](INFO): DAT read: 07:04:32.7975 LVL= 31728, 21569, 27122, 32403, AGC= 63, IDX= 435, 0.18,-0.682, 1.554, 0.320, 0.514, PHS=-1.094, 1.085,-0.238, RAW= 307.1,   2.6, CAL= 304.8,  -0.8, ROT= 205.2,   0.8

2025-08-21T07:04:34.567Z,1755759874.567 [DAT](INFO): got valid direction response:
 07:04:32.7975 LVL= 31728, 21569, 27122, 32403, AGC= 63, IDX= 435, 0.18,-0.682, 1.554, 0.320, 0.514, PHS=-1.094, 1.085,-0.238, RAW= 307.1,   2.6, CAL= 304.8,  -0.8, ROT= 205.2,   0.8

2025-08-21T07:04:34.568Z,1755759874.568 [DAT](INFO): DAT read: Bearing  70.8, -26.0 (Local)

2025-08-21T07:04:34.568Z,1755759874.568 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.8, -26.0 (Local)

2025-08-21T07:04:34.570Z,1755759874.570 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m  (Round-trip  22.5 ms) speed  0.0 m/s

2025-08-21T07:04:34.571Z,1755759874.571 [DAT](INFO): DAT read: user:2095>

2025-08-21T07:04:34.571Z,1755759874.571 [DAT](INFO): DAT read: Tx time:07:04:33.9208

2025-08-21T07:04:34.572Z,1755759874.572 [DAT](INFO): Ping request sent.
2025-08-21T07:04:34.572Z,1755759874.572 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:34.572Z,1755759874.572 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-21T07:04:34.573Z,1755759874.573 [DAT](INFO): direction in FSK: [-0.904739,-0.425738,-0.013962]
2025-08-21T07:04:34.573Z,1755759874.573 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:34.574Z,1755759874.574 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:34.595Z,1755759874.595 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:34.595Z,1755759874.595 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:34.657Z,1755759874.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 3.539254 s,
      deltaX: 0.299999 m,
      approachRate: 0.084763 m/s,
      rangeRepo size: 4

2025-08-21T07:04:34.659Z,1755759874.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.707512 m,
      bearing: 289.133514 deg,
      lat: 36.779412 deg,
      lon: -121.859399 deg,
      deltaT: 3.539254 s,
      deltaX: 0.298449 m,
      approachRate: 0.084325 m/s,
      posRepo size: 4

2025-08-21T07:04:34.668Z,1755759874.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m.
2025-08-21T07:04:34.965Z,1755759874.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m.
2025-08-21T07:04:35.352Z,1755759875.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m.
2025-08-21T07:04:35.536Z,1755759875.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:04:35.802Z,1755759875.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m.
2025-08-21T07:04:36.184Z,1755759876.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m.
2025-08-21T07:04:36.540Z,1755759876.540 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:04:36.608Z,1755759876.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m.
2025-08-21T07:04:37.000Z,1755759877.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m.
2025-08-21T07:04:37.381Z,1755759877.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m.
2025-08-21T07:04:37.585Z,1755759877.585 [DAT](INFO): DAT read: Rx Time:07:04:36.3479

2025-08-21T07:04:37.586Z,1755759877.586 [DAT](INFO): Rx dataTimestamp_ set to:1755759877.585802
2025-08-21T07:04:37.819Z,1755759877.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m.
2025-08-21T07:04:38.098Z,1755759878.098 [DAT](INFO): DAT read: 07:04:36.3479 LVL= 32752, 25201, 29010, 32755, AGC= 61, IDX= 439, 0.44, 0.443, 2.632, 1.473, 1.585, PHS=-1.040, 1.092,-0.156, RAW= 305.6,   1.1, CAL= 303.7,  -2.5, ROT= 206.3,   2.5

2025-08-21T07:04:38.100Z,1755759878.100 [DAT](INFO): got valid direction response:
 07:04:36.3479 LVL= 32752, 25201, 29010, 32755, AGC= 61, IDX= 439, 0.44, 0.443, 2.632, 1.473, 1.585, PHS=-1.040, 1.092,-0.156, RAW= 305.6,   1.1, CAL= 303.7,  -2.5, ROT= 206.3,   2.5

2025-08-21T07:04:38.101Z,1755759878.101 [DAT](INFO): DAT read: Bearing  72.5, -27.3 (Local)

2025-08-21T07:04:38.102Z,1755759878.102 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.5, -27.3 (Local)

2025-08-21T07:04:38.105Z,1755759878.105 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m  (Round-trip  22.9 ms) speed -0.1 m/s

2025-08-21T07:04:38.107Z,1755759878.107 [DAT](INFO): DAT read: user:2096>

2025-08-21T07:04:38.108Z,1755759878.108 [DAT](INFO): DAT read: Tx time:07:04:37.4708

2025-08-21T07:04:38.108Z,1755759878.108 [DAT](INFO): Ping request sent.
2025-08-21T07:04:38.108Z,1755759878.108 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:38.109Z,1755759878.109 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-21T07:04:38.110Z,1755759878.110 [DAT](INFO): direction in FSK: [-0.895633,-0.442650,-0.043619]
2025-08-21T07:04:38.110Z,1755759878.110 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:38.110Z,1755759878.110 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:38.114Z,1755759878.114 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:38.114Z,1755759878.114 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:38.286Z,1755759878.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 3.528386 s,
      deltaX: 0.300001 m,
      approachRate: 0.085025 m/s,
      rangeRepo size: 4

2025-08-21T07:04:38.292Z,1755759878.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.005899 m,
      bearing: 290.198355 deg,
      lat: 36.779412 deg,
      lon: -121.859398 deg,
      deltaT: 3.528386 s,
      deltaX: 0.298388 m,
      approachRate: 0.084568 m/s,
      posRepo size: 4

2025-08-21T07:04:38.292Z,1755759878.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:04:38.630Z,1755759878.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:04:38.993Z,1755759878.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:04:39.399Z,1755759879.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:04:39.831Z,1755759879.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:04:40.218Z,1755759880.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:04:40.645Z,1755759880.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:04:41.015Z,1755759881.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:04:41.117Z,1755759881.117 [DAT](INFO): DAT read: Rx Time:07:04:39.8984

2025-08-21T07:04:41.117Z,1755759881.117 [DAT](INFO): Rx dataTimestamp_ set to:1755759881.116997
2025-08-21T07:04:41.421Z,1755759881.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:04:41.627Z,1755759881.627 [DAT](INFO): DAT read: 07:04:39.8984 LVL= 32752, 20785, 29506, 32755, AGC= 61, IDX= 429,-0.37, 0.512, 2.737, 1.533, 1.651, PHS=-1.037, 1.131,-0.162, RAW= 306.3,   0.7, CAL= 304.5,  -2.8, ROT= 205.5,   2.8

2025-08-21T07:04:41.628Z,1755759881.628 [DAT](INFO): got valid direction response:
 07:04:39.8984 LVL= 32752, 20785, 29506, 32755, AGC= 61, IDX= 429,-0.37, 0.512, 2.737, 1.533, 1.651, PHS=-1.037, 1.131,-0.162, RAW= 306.3,   0.7, CAL= 304.5,  -2.8, ROT= 205.5,   2.8

2025-08-21T07:04:41.629Z,1755759881.629 [DAT](INFO): DAT read: Bearing  72.4, -26.6 (Local)

2025-08-21T07:04:41.630Z,1755759881.630 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.4, -26.6 (Local)

2025-08-21T07:04:41.631Z,1755759881.631 [DAT](INFO): DAT read: Range 11 to 50 : 17.5 m  (Round-trip  23.4 ms) speed  0.0 m/s

2025-08-21T07:04:41.632Z,1755759881.632 [DAT](INFO): DAT read: user:2097>

2025-08-21T07:04:41.633Z,1755759881.633 [DAT](INFO): DAT read: Tx time:07:04:41.0208

2025-08-21T07:04:41.633Z,1755759881.633 [DAT](INFO): Ping request sent.
2025-08-21T07:04:41.633Z,1755759881.633 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:41.633Z,1755759881.633 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-21T07:04:41.634Z,1755759881.634 [DAT](INFO): direction in FSK: [-0.901508,-0.429997,-0.048850]
2025-08-21T07:04:41.635Z,1755759881.635 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:41.635Z,1755759881.635 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:41.639Z,1755759881.639 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:41.639Z,1755759881.639 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:41.856Z,1755759881.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.500000 m,
      deltaT: 3.532795 s,
      deltaX: 0.400000 m,
      approachRate: 0.113225 m/s,
      rangeRepo size: 4

2025-08-21T07:04:41.858Z,1755759881.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.403666 m,
      bearing: 289.358444 deg,
      lat: 36.779414 deg,
      lon: -121.859398 deg,
      deltaT: 3.532795 s,
      deltaX: 0.397766 m,
      approachRate: 0.112592 m/s,
      posRepo size: 4

2025-08-21T07:04:41.859Z,1755759881.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-21T07:04:42.266Z,1755759882.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-21T07:04:42.681Z,1755759882.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-21T07:04:43.046Z,1755759883.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-21T07:04:43.439Z,1755759883.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-21T07:04:43.875Z,1755759883.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-21T07:04:44.247Z,1755759884.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-21T07:04:44.650Z,1755759884.650 [DAT](INFO): DAT read: Rx Time:07:04:43.4485

2025-08-21T07:04:44.651Z,1755759884.651 [DAT](INFO): Rx dataTimestamp_ set to:1755759884.650448
2025-08-21T07:04:44.677Z,1755759884.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-21T07:04:45.048Z,1755759885.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.40 m.
2025-08-21T07:04:45.171Z,1755759885.171 [DAT](INFO): DAT read: 07:04:43.4485 LVL= 32224, 24273, 24562, 32467, AGC= 63, IDX= 447,-0.16, 1.500,-2.642, 2.462, 2.696, PHS=-1.095, 0.990,-0.278, RAW= 307.1,   4.3, CAL= 304.7,   1.6, ROT= 205.3,  -1.6

2025-08-21T07:04:45.173Z,1755759885.173 [DAT](INFO): got valid direction response:
 07:04:43.4485 LVL= 32224, 24273, 24562, 32467, AGC= 63, IDX= 447,-0.16, 1.500,-2.642, 2.462, 2.696, PHS=-1.095, 0.990,-0.278, RAW= 307.1,   4.3, CAL= 304.7,   1.6, ROT= 205.3,  -1.6

2025-08-21T07:04:45.174Z,1755759885.174 [DAT](INFO): DAT read: Bearing  67.5, -25.8 (Local)

2025-08-21T07:04:45.175Z,1755759885.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing  67.5, -25.8 (Local)

2025-08-21T07:04:45.205Z,1755759885.205 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m  (Round-trip  23.6 ms) speed  0.0 m/s

2025-08-21T07:04:45.205Z,1755759885.205 [DAT](INFO): DAT read: user:2098>

2025-08-21T07:04:45.206Z,1755759885.206 [DAT](INFO): DAT read: Tx time:07:04:44.5708

2025-08-21T07:04:45.206Z,1755759885.206 [DAT](INFO): Ping request sent.
2025-08-21T07:04:45.206Z,1755759885.206 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:45.207Z,1755759885.207 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-21T07:04:45.212Z,1755759885.212 [DAT](INFO): direction in FSK: [-0.903730,-0.427191,0.027922]
2025-08-21T07:04:45.213Z,1755759885.213 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:45.213Z,1755759885.213 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:45.225Z,1755759885.225 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:45.225Z,1755759885.225 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:45.475Z,1755759885.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.700001 m,
      deltaT: 3.539502 s,
      deltaX: 0.200001 m,
      approachRate: 0.056505 m/s,
      rangeRepo size: 4

2025-08-21T07:04:45.477Z,1755759885.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.602589 m,
      bearing: 289.576696 deg,
      lat: 36.779416 deg,
      lon: -121.859398 deg,
      deltaT: 3.539502 s,
      deltaX: 0.198923 m,
      approachRate: 0.056201 m/s,
      posRepo size: 4

2025-08-21T07:04:45.477Z,1755759885.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-21T07:04:45.923Z,1755759885.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-21T07:04:46.358Z,1755759886.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-21T07:04:46.770Z,1755759886.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-21T07:04:47.166Z,1755759887.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-21T07:04:47.584Z,1755759887.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-21T07:04:47.982Z,1755759887.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-21T07:04:48.184Z,1755759888.184 [DAT](INFO): DAT read: Rx Time:07:04:46.9988

2025-08-21T07:04:48.185Z,1755759888.185 [DAT](INFO): Rx dataTimestamp_ set to:1755759888.184403
2025-08-21T07:04:48.356Z,1755759888.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-21T07:04:48.711Z,1755759888.711 [DAT](INFO): DAT read: 07:04:46.9988 LVL= 31616, 27633, 27730, 31203, AGC= 63, IDX= 449,-0.11, 2.015,-1.991, 3.017,-3.081, PHS=-1.085, 1.136,-0.229, RAW= 307.5,   1.9, CAL= 305.4,  -1.6, ROT= 204.6,   1.6

2025-08-21T07:04:48.713Z,1755759888.713 [DAT](INFO): got valid direction response:
 07:04:46.9988 LVL= 31616, 27633, 27730, 31203, AGC= 63, IDX= 449,-0.11, 2.015,-1.991, 3.017,-3.081, PHS=-1.085, 1.136,-0.229, RAW= 307.5,   1.9, CAL= 305.4,  -1.6, ROT= 204.6,   1.6

2025-08-21T07:04:48.714Z,1755759888.714 [DAT](INFO): DAT read: Bearing  71.2, -25.5 (Local)

2025-08-21T07:04:48.714Z,1755759888.714 [DAT](INFO): Local bearing/azimuth received:
 Bearing  71.2, -25.5 (Local)

2025-08-21T07:04:48.715Z,1755759888.715 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m  (Round-trip  23.9 ms) speed -0.1 m/s

2025-08-21T07:04:48.716Z,1755759888.716 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-21T07:04:48.717Z,1755759888.717 [DAT](INFO): direction in FSK: [-0.908882,-0.416119,-0.027922]
2025-08-21T07:04:48.717Z,1755759888.717 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:48.869Z,1755759888.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 3.528751 s,
      deltaX: 0.199999 m,
      approachRate: 0.056677 m/s,
      rangeRepo size: 4

2025-08-21T07:04:48.875Z,1755759888.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.801462 m,
      bearing: 288.834379 deg,
      lat: 36.779416 deg,
      lon: -121.859398 deg,
      deltaT: 3.528751 s,
      deltaX: 0.198874 m,
      approachRate: 0.056358 m/s,
      posRepo size: 4

2025-08-21T07:04:48.876Z,1755759888.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:49.181Z,1755759889.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:49.590Z,1755759889.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:50.012Z,1755759890.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:50.383Z,1755759890.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:50.804Z,1755759890.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:51.201Z,1755759891.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:51.624Z,1755759891.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:52.038Z,1755759892.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:52.424Z,1755759892.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:52.860Z,1755759892.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:53.259Z,1755759893.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:53.652Z,1755759893.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:54.118Z,1755759894.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:54.497Z,1755759894.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:04:54.511Z,1755759894.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:54.747Z,1755759894.747 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:04:54.748Z,1755759894.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:04:54.997Z,1755759894.997 [DAT](INFO): DAT read: user:2099>

2025-08-21T07:04:55.000Z,1755759895.000 [DAT](INFO): DAT read: Tx time:07:04:54.2208

2025-08-21T07:04:55.002Z,1755759895.002 [DAT](INFO): Ping request sent.
2025-08-21T07:04:55.002Z,1755759895.002 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:04:55.002Z,1755759895.002 [DAT](INFO): publishing transmit ping time
2025-08-21T07:04:55.003Z,1755759895.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001067
2025-08-21T07:04:55.012Z,1755759895.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:55.248Z,1755759895.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246616
2025-08-21T07:04:55.427Z,1755759895.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:55.500Z,1755759895.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498639
2025-08-21T07:04:55.755Z,1755759895.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752799
2025-08-21T07:04:55.859Z,1755759895.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:56.004Z,1755759896.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002561
2025-08-21T07:04:56.256Z,1755759896.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254764
2025-08-21T07:04:56.258Z,1755759896.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:56.509Z,1755759896.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506953
2025-08-21T07:04:56.670Z,1755759896.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:56.764Z,1755759896.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761392
2025-08-21T07:04:57.012Z,1755759897.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010605
2025-08-21T07:04:57.094Z,1755759897.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:57.264Z,1755759897.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262518
2025-08-21T07:04:57.461Z,1755759897.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:57.517Z,1755759897.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515049
2025-08-21T07:04:57.772Z,1755759897.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769331
2025-08-21T07:04:57.890Z,1755759897.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:58.021Z,1755759898.021 [DAT](INFO): DAT read: Rx Time:07:04:56.6492

2025-08-21T07:04:58.022Z,1755759898.022 [DAT](INFO): Rx dataTimestamp_ set to:1755759898.021859
2025-08-21T07:04:58.024Z,1755759898.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022080
2025-08-21T07:04:58.272Z,1755759898.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270514
2025-08-21T07:04:58.279Z,1755759898.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m.
2025-08-21T07:04:58.536Z,1755759898.536 [DAT](INFO): DAT read: 07:04:56.6492 LVL= 32752, 21553, 26962, 32755, AGC= 61, IDX= 437, 0.15,-2.813,-0.657,-1.919,-1.609, PHS=-1.103, 0.997,-0.355, RAW= 309.4,   5.0, CAL= 307.1,   3.3, ROT= 202.9,  -3.3

2025-08-21T07:04:58.538Z,1755759898.538 [DAT](INFO): got valid direction response:
 07:04:56.6492 LVL= 32752, 21553, 26962, 32755, AGC= 61, IDX= 437, 0.15,-2.813,-0.657,-1.919,-1.609, PHS=-1.103, 0.997,-0.355, RAW= 309.4,   5.0, CAL= 307.1,   3.3, ROT= 202.9,  -3.3

2025-08-21T07:04:58.539Z,1755759898.539 [DAT](INFO): DAT read: Bearing  66.2, -22.9 (Local)

2025-08-21T07:04:58.548Z,1755759898.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing  66.2, -22.9 (Local)

2025-08-21T07:04:58.549Z,1755759898.549 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m  (Round-trip  24.3 ms) speed -0.1 m/s

2025-08-21T07:04:58.550Z,1755759898.550 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:04:58.551Z,1755759898.551 [DAT](INFO): direction in FSK: [-0.919658,-0.388479,0.057564]
2025-08-21T07:04:58.551Z,1755759898.551 [DAT](INFO): publishing direction and range info
2025-08-21T07:04:58.692Z,1755759898.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.200001 m,
      deltaT: 9.837352 s,
      deltaX: 0.300001 m,
      approachRate: 0.030496 m/s,
      rangeRepo size: 4

2025-08-21T07:04:58.694Z,1755759898.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.099859 m,
      bearing: 288.386724 deg,
      lat: 36.779416 deg,
      lon: -121.859400 deg,
      deltaT: 9.837352 s,
      deltaX: 0.298397 m,
      approachRate: 0.030333 m/s,
      posRepo size: 4

2025-08-21T07:04:58.695Z,1755759898.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:04:59.118Z,1755759899.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:04:59.479Z,1755759899.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:04:59.910Z,1755759899.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:00.295Z,1755759900.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:00.718Z,1755759900.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:01.148Z,1755759901.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:01.555Z,1755759901.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:01.941Z,1755759901.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:02.317Z,1755759902.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:02.722Z,1755759902.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:03.162Z,1755759903.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:03.553Z,1755759903.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:03.986Z,1755759903.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:04.342Z,1755759904.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:04.774Z,1755759904.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:05.203Z,1755759905.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:05.647Z,1755759905.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:06.076Z,1755759906.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:06.480Z,1755759906.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:06.660Z,1755759906.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:05:06.901Z,1755759906.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:07.362Z,1755759907.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:07.664Z,1755759907.664 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:05:07.783Z,1755759907.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:08.202Z,1755759908.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:08.589Z,1755759908.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:09.093Z,1755759909.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:09.470Z,1755759909.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:09.874Z,1755759909.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:10.300Z,1755759910.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:10.705Z,1755759910.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:11.130Z,1755759911.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:11.512Z,1755759911.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:11.904Z,1755759911.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:12.323Z,1755759912.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:12.701Z,1755759912.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:13.125Z,1755759913.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:13.525Z,1755759913.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:13.913Z,1755759913.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:14.361Z,1755759914.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:14.734Z,1755759914.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:15.185Z,1755759915.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:15.602Z,1755759915.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:16.021Z,1755759916.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:16.442Z,1755759916.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:16.810Z,1755759916.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:17.239Z,1755759917.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:17.640Z,1755759917.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:18.034Z,1755759918.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:18.532Z,1755759918.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:18.941Z,1755759918.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:19.319Z,1755759919.319 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS  -6,A
2025-08-21T07:05:19.334Z,1755759919.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:19.743Z,1755759919.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:20.210Z,1755759920.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:20.560Z,1755759920.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:20.948Z,1755759920.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:21.371Z,1755759921.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:21.762Z,1755759921.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:22.241Z,1755759922.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:22.572Z,1755759922.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:23.014Z,1755759923.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:23.440Z,1755759923.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:23.849Z,1755759923.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:24.271Z,1755759924.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:24.680Z,1755759924.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:25.065Z,1755759925.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:25.531Z,1755759925.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:25.850Z,1755759925.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:26.315Z,1755759926.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:26.670Z,1755759926.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:27.046Z,1755759927.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:27.500Z,1755759927.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:27.873Z,1755759927.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:28.358Z,1755759928.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:28.663Z,1755759928.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:29.109Z,1755759929.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:29.527Z,1755759929.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:29.990Z,1755759929.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:30.413Z,1755759930.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:30.777Z,1755759930.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:31.199Z,1755759931.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:31.616Z,1755759931.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:32.035Z,1755759932.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:32.460Z,1755759932.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:32.867Z,1755759932.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:33.300Z,1755759933.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:33.706Z,1755759933.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:34.089Z,1755759934.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:34.495Z,1755759934.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:34.901Z,1755759934.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:35.277Z,1755759935.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:35.733Z,1755759935.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:36.090Z,1755759936.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:36.521Z,1755759936.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:36.896Z,1755759936.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:37.297Z,1755759937.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:37.730Z,1755759937.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:37.784Z,1755759937.784 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:05:38.121Z,1755759938.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:38.546Z,1755759938.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:38.787Z,1755759938.787 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:05:38.938Z,1755759938.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:39.322Z,1755759939.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:39.811Z,1755759939.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:40.131Z,1755759940.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:40.584Z,1755759940.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:40.971Z,1755759940.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:41.360Z,1755759941.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:41.797Z,1755759941.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:42.170Z,1755759942.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:42.592Z,1755759942.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:43.001Z,1755759943.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:43.484Z,1755759943.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:43.842Z,1755759943.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:44.216Z,1755759944.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:44.631Z,1755759944.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:45.025Z,1755759945.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:45.478Z,1755759945.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:45.869Z,1755759945.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:46.233Z,1755759946.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:46.661Z,1755759946.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:47.036Z,1755759947.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:47.447Z,1755759947.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:47.935Z,1755759947.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:48.336Z,1755759948.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:48.758Z,1755759948.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:49.157Z,1755759949.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:49.607Z,1755759949.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:49.947Z,1755759949.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:50.371Z,1755759950.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:50.827Z,1755759950.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:51.222Z,1755759951.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:51.665Z,1755759951.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:52.125Z,1755759952.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:52.554Z,1755759952.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:53.003Z,1755759953.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:53.399Z,1755759953.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:53.769Z,1755759953.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:54.222Z,1755759954.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:54.561Z,1755759954.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:05:54.563Z,1755759954.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:54.772Z,1755759954.772 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:05:54.772Z,1755759954.772 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:05:55.004Z,1755759955.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:55.025Z,1755759955.025 [DAT](INFO): DAT read: user:2100>

2025-08-21T07:05:55.025Z,1755759955.025 [DAT](INFO): DAT read: Tx time:07:05:54.2204

2025-08-21T07:05:55.026Z,1755759955.026 [DAT](INFO): Ping request sent.
2025-08-21T07:05:55.026Z,1755759955.026 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:05:55.026Z,1755759955.026 [DAT](INFO): publishing transmit ping time
2025-08-21T07:05:55.027Z,1755759955.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-21T07:05:55.276Z,1755759955.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250478
2025-08-21T07:05:55.390Z,1755759955.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:55.528Z,1755759955.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502581
2025-08-21T07:05:55.780Z,1755759955.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754490
2025-08-21T07:05:55.798Z,1755759955.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:56.032Z,1755759956.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006495
2025-08-21T07:05:56.184Z,1755759956.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:56.284Z,1755759956.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258505
2025-08-21T07:05:56.536Z,1755759956.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510490
2025-08-21T07:05:56.595Z,1755759956.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:56.788Z,1755759956.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762675
2025-08-21T07:05:57.041Z,1755759957.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015104
2025-08-21T07:05:57.132Z,1755759957.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:57.292Z,1755759957.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266423
2025-08-21T07:05:57.493Z,1755759957.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:57.545Z,1755759957.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519120
2025-08-21T07:05:57.796Z,1755759957.796 [DAT](INFO): DAT read: Rx Time:07:05:56.6473

2025-08-21T07:05:57.797Z,1755759957.797 [DAT](INFO): Rx dataTimestamp_ set to:1755759957.796538
2025-08-21T07:05:57.797Z,1755759957.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771624
2025-08-21T07:05:57.931Z,1755759957.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:58.048Z,1755759958.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022462
2025-08-21T07:05:58.302Z,1755759958.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275425
2025-08-21T07:05:58.360Z,1755759958.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m.
2025-08-21T07:05:58.557Z,1755759958.557 [DAT](INFO): DAT read: 07:05:56.6473 LVL= 31952, 20257, 24882, 31667, AGC= 63, IDX= 406, 0.08, 0.717, 2.974, 1.797, 1.890, PHS=-1.071, 1.128,-0.137, RAW= 305.0,   0.9, CAL= 303.1,  -2.8, ROT= 206.9,   2.8

2025-08-21T07:05:58.559Z,1755759958.559 [DAT](INFO): got valid direction response:
 07:05:56.6473 LVL= 31952, 20257, 24882, 31667, AGC= 63, IDX= 406, 0.08, 0.717, 2.974, 1.797, 1.890, PHS=-1.071, 1.128,-0.137, RAW= 305.0,   0.9, CAL= 303.1,  -2.8, ROT= 206.9,   2.8

2025-08-21T07:05:58.560Z,1755759958.560 [DAT](INFO): DAT read: Bearing  72.0, -30.2 (Local)

2025-08-21T07:05:58.560Z,1755759958.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing  72.0, -30.2 (Local)

2025-08-21T07:05:58.561Z,1755759958.561 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m  (Round-trip  22.8 ms) speed  0.0 m/s

2025-08-21T07:05:58.562Z,1755759958.562 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:05:58.563Z,1755759958.563 [DAT](INFO): direction in FSK: [-0.890733,-0.451894,-0.048850]
2025-08-21T07:05:58.563Z,1755759958.563 [DAT](INFO): publishing direction and range info
2025-08-21T07:05:58.797Z,1755759958.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.100000 m,
      deltaT: 60.025088 s,
      deltaX: -1.100000 m,
      approachRate: -0.018326 m/s,
      rangeRepo size: 4

2025-08-21T07:05:58.799Z,1755759958.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.005856 m,
      bearing: 294.884664 deg,
      lat: 36.779415 deg,
      lon: -121.859400 deg,
      deltaT: 60.025088 s,
      deltaX: -1.094004 m,
      approachRate: -0.018226 m/s,
      posRepo size: 4

2025-08-21T07:05:58.805Z,1755759958.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:05:59.140Z,1755759959.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:05:59.509Z,1755759959.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:05:59.947Z,1755759959.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:00.337Z,1755759960.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:00.787Z,1755759960.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:01.221Z,1755759961.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:01.611Z,1755759961.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:02.031Z,1755759962.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:02.419Z,1755759962.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:02.899Z,1755759962.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:03.221Z,1755759963.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:03.628Z,1755759963.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:04.058Z,1755759964.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:04.432Z,1755759964.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:04.886Z,1755759964.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:05.296Z,1755759965.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:05.680Z,1755759965.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:06.125Z,1755759966.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:06.499Z,1755759966.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:06.922Z,1755759966.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:07.296Z,1755759967.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:07.700Z,1755759967.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:08.130Z,1755759968.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:08.582Z,1755759968.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:08.908Z,1755759968.908 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:06:08.972Z,1755759968.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:09.388Z,1755759969.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:09.892Z,1755759969.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:09.912Z,1755759969.912 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:06:10.253Z,1755759970.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:10.629Z,1755759970.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:11.056Z,1755759971.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:11.421Z,1755759971.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:11.904Z,1755759971.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:12.262Z,1755759972.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:12.630Z,1755759972.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:13.088Z,1755759973.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:13.438Z,1755759973.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:13.854Z,1755759973.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:14.265Z,1755759974.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:14.664Z,1755759974.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:15.101Z,1755759975.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:15.462Z,1755759975.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:15.870Z,1755759975.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:16.324Z,1755759976.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:16.675Z,1755759976.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:17.138Z,1755759977.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:17.493Z,1755759977.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:17.919Z,1755759977.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:18.351Z,1755759978.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:18.754Z,1755759978.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:19.217Z,1755759979.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:19.555Z,1755759979.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:20.030Z,1755759980.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:20.385Z,1755759980.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:20.781Z,1755759980.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:21.206Z,1755759981.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:21.583Z,1755759981.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:21.999Z,1755759981.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:22.408Z,1755759982.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:22.871Z,1755759982.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:23.249Z,1755759983.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:23.618Z,1755759983.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:24.034Z,1755759984.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:24.432Z,1755759984.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:24.818Z,1755759984.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:25.238Z,1755759985.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:25.623Z,1755759985.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:26.018Z,1755759986.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:26.444Z,1755759986.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:26.837Z,1755759986.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:27.271Z,1755759987.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:27.634Z,1755759987.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:28.043Z,1755759988.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:28.471Z,1755759988.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:28.845Z,1755759988.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:29.239Z,1755759989.239 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022610534782,3.7,   0.0,1492.4,  0
2025-08-21T07:06:29.258Z,1755759989.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:29.658Z,1755759989.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:30.074Z,1755759990.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:30.499Z,1755759990.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:30.868Z,1755759990.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:31.326Z,1755759991.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:31.692Z,1755759991.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:32.083Z,1755759992.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:32.503Z,1755759992.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:32.899Z,1755759992.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:33.320Z,1755759993.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:33.693Z,1755759993.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:34.097Z,1755759994.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:34.523Z,1755759994.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:34.906Z,1755759994.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:35.334Z,1755759995.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:35.728Z,1755759995.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:36.117Z,1755759996.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:36.542Z,1755759996.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:36.988Z,1755759996.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:37.390Z,1755759997.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:37.785Z,1755759997.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:38.167Z,1755759998.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:38.559Z,1755759998.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:38.960Z,1755759998.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:39.385Z,1755759999.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:39.771Z,1755759999.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:40.040Z,1755760000.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:06:40.186Z,1755760000.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:40.580Z,1755760000.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:40.976Z,1755760000.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:41.043Z,1755760001.043 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:06:41.413Z,1755760001.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:41.779Z,1755760001.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:42.194Z,1755760002.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:42.614Z,1755760002.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:42.987Z,1755760002.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:43.429Z,1755760003.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:43.797Z,1755760003.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:44.208Z,1755760004.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:44.625Z,1755760004.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:45.004Z,1755760005.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:45.458Z,1755760005.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:45.824Z,1755760005.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:46.253Z,1755760006.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:46.657Z,1755760006.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:47.025Z,1755760007.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:47.493Z,1755760007.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:47.856Z,1755760007.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:48.266Z,1755760008.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:48.660Z,1755760008.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:49.050Z,1755760009.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:49.516Z,1755760009.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:49.866Z,1755760009.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:50.258Z,1755760010.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:50.710Z,1755760010.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:51.066Z,1755760011.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:51.605Z,1755760011.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:51.904Z,1755760011.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:52.311Z,1755760012.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:52.742Z,1755760012.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:53.102Z,1755760013.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:53.549Z,1755760013.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:53.936Z,1755760013.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:54.302Z,1755760014.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:54.738Z,1755760014.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:06:54.740Z,1755760014.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:54.780Z,1755760014.780 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:06:54.780Z,1755760014.780 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:06:55.032Z,1755760015.032 [DAT](INFO): DAT read: user:2101>

2025-08-21T07:06:55.033Z,1755760015.033 [DAT](INFO): DAT read: Tx time:07:06:54.2201

2025-08-21T07:06:55.033Z,1755760015.033 [DAT](INFO): Ping request sent.
2025-08-21T07:06:55.033Z,1755760015.033 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:06:55.033Z,1755760015.033 [DAT](INFO): publishing transmit ping time
2025-08-21T07:06:55.034Z,1755760015.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-21T07:06:55.154Z,1755760015.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:55.289Z,1755760015.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255470
2025-08-21T07:06:55.543Z,1755760015.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508850
2025-08-21T07:06:55.570Z,1755760015.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:55.792Z,1755760015.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758916
2025-08-21T07:06:55.959Z,1755760015.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:56.044Z,1755760016.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010937
2025-08-21T07:06:56.296Z,1755760016.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262850
2025-08-21T07:06:56.315Z,1755760016.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:56.555Z,1755760016.555 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521112
2025-08-21T07:06:56.774Z,1755760016.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:56.804Z,1755760016.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771004
2025-08-21T07:06:57.056Z,1755760017.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022964
2025-08-21T07:06:57.146Z,1755760017.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:57.308Z,1755760017.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275138
2025-08-21T07:06:57.563Z,1755760017.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529096
2025-08-21T07:06:57.610Z,1755760017.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:57.812Z,1755760017.812 [DAT](INFO): DAT read: Rx Time:07:06:56.6421

2025-08-21T07:06:57.813Z,1755760017.813 [DAT](INFO): Rx dataTimestamp_ set to:1755760017.812524
2025-08-21T07:06:57.813Z,1755760017.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780031
2025-08-21T07:06:57.973Z,1755760017.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:58.065Z,1755760018.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031471
2025-08-21T07:06:58.320Z,1755760018.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285479
2025-08-21T07:06:58.394Z,1755760018.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m.
2025-08-21T07:06:58.589Z,1755760018.589 [DAT](INFO): DAT read: 07:06:56.6421 LVL= 32752, 23937, 23314, 32595, AGC= 57, IDX= 387, 0.49,-1.947, 0.567,-0.799,-0.586, PHS=-1.260, 1.198,-0.257, RAW= 306.1,   3.0, CAL= 303.7,  -0.5, ROT= 206.3,   0.5

2025-08-21T07:06:58.590Z,1755760018.590 [DAT](INFO): got valid direction response:
 07:06:56.6421 LVL= 32752, 23937, 23314, 32595, AGC= 57, IDX= 387, 0.49,-1.947, 0.567,-0.799,-0.586, PHS=-1.260, 1.198,-0.257, RAW= 306.1,   3.0, CAL= 303.7,  -0.5, ROT= 206.3,   0.5

2025-08-21T07:06:58.591Z,1755760018.591 [DAT](INFO): DAT read: Bearing  70.4, -28.4 (Local)

2025-08-21T07:06:58.591Z,1755760018.591 [DAT](INFO): Local bearing/azimuth received:
 Bearing  70.4, -28.4 (Local)

2025-08-21T07:06:58.597Z,1755760018.597 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m  (Round-trip  17.9 ms) speed  0.0 m/s

2025-08-21T07:06:58.600Z,1755760018.600 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:06:58.601Z,1755760018.601 [DAT](INFO): direction in FSK: [-0.896452,-0.443054,-0.008727]
2025-08-21T07:06:58.601Z,1755760018.601 [DAT](INFO): publishing direction and range info
2025-08-21T07:06:58.776Z,1755760018.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 60.017523 s,
      deltaX: -3.700001 m,
      approachRate: -0.061649 m/s,
      rangeRepo size: 4

2025-08-21T07:06:58.778Z,1755760018.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.326183 m,
      bearing: 295.331528 deg,
      lat: 36.779415 deg,
      lon: -121.859400 deg,
      deltaT: 60.017523 s,
      deltaX: -3.679672 m,
      approachRate: -0.061310 m/s,
      posRepo size: 4

2025-08-21T07:06:58.779Z,1755760018.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:06:59.202Z,1755760019.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:06:59.572Z,1755760019.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:06:59.982Z,1755760019.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:00.374Z,1755760020.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:00.797Z,1755760020.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:01.180Z,1755760021.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:01.596Z,1755760021.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:02.009Z,1755760022.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:02.409Z,1755760022.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:02.801Z,1755760022.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:03.199Z,1755760023.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:03.585Z,1755760023.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:04.031Z,1755760024.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:04.397Z,1755760024.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:04.826Z,1755760024.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:05.223Z,1755760025.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:05.750Z,1755760025.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:06.039Z,1755760026.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:06.431Z,1755760026.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:06.858Z,1755760026.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:07.221Z,1755760027.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:07.626Z,1755760027.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:08.059Z,1755760028.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:08.432Z,1755760028.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:08.856Z,1755760028.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:09.255Z,1755760029.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:09.668Z,1755760029.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:10.074Z,1755760030.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:10.463Z,1755760030.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:10.883Z,1755760030.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:11.173Z,1755760031.173 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:07:11.262Z,1755760031.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:11.679Z,1755760031.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:12.092Z,1755760032.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:12.176Z,1755760032.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:07:12.473Z,1755760032.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:12.922Z,1755760032.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:13.303Z,1755760033.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:13.694Z,1755760033.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:14.115Z,1755760034.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:14.494Z,1755760034.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:14.916Z,1755760034.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:15.320Z,1755760035.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:15.704Z,1755760035.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:16.166Z,1755760036.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:16.515Z,1755760036.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:16.940Z,1755760036.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:17.344Z,1755760037.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:17.732Z,1755760037.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:18.185Z,1755760038.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:18.537Z,1755760038.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:18.960Z,1755760038.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:19.344Z,1755760039.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:19.745Z,1755760039.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:20.281Z,1755760040.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:20.587Z,1755760040.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:21.037Z,1755760041.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:21.400Z,1755760041.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:21.818Z,1755760041.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:22.221Z,1755760042.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:22.618Z,1755760042.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:23.024Z,1755760043.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:23.419Z,1755760043.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:23.829Z,1755760043.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:24.257Z,1755760044.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:24.637Z,1755760044.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:25.045Z,1755760045.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:25.439Z,1755760045.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:25.858Z,1755760045.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:26.273Z,1755760046.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:26.651Z,1755760046.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:27.070Z,1755760047.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:27.464Z,1755760047.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:27.860Z,1755760047.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:28.276Z,1755760048.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:28.670Z,1755760048.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:29.106Z,1755760049.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:29.487Z,1755760049.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:29.887Z,1755760049.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:30.303Z,1755760050.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:30.715Z,1755760050.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:31.140Z,1755760051.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:31.505Z,1755760051.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:31.912Z,1755760051.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:32.332Z,1755760052.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:32.775Z,1755760052.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:33.184Z,1755760053.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:33.507Z,1755760053.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:33.913Z,1755760053.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:34.337Z,1755760054.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:34.820Z,1755760054.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:35.221Z,1755760055.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:35.540Z,1755760055.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:35.961Z,1755760055.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:36.378Z,1755760056.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:36.745Z,1755760056.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:37.212Z,1755760057.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:37.574Z,1755760057.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:37.953Z,1755760057.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:38.401Z,1755760058.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:38.771Z,1755760058.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:39.235Z,1755760059.235 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00,        +0.  516I, +16,    -6,A
2025-08-21T07:07:39.254Z,1755760059.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:39.592Z,1755760059.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:39.981Z,1755760059.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:40.424Z,1755760060.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:40.791Z,1755760060.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:41.258Z,1755760061.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:41.615Z,1755760061.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:41.999Z,1755760061.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:42.304Z,1755760062.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:07:42.427Z,1755760062.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:42.820Z,1755760062.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:43.258Z,1755760063.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:43.308Z,1755760063.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:07:43.628Z,1755760063.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:44.020Z,1755760064.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:44.444Z,1755760064.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:44.825Z,1755760064.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:45.294Z,1755760065.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:45.663Z,1755760065.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:46.040Z,1755760066.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:46.469Z,1755760066.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:46.864Z,1755760066.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:47.299Z,1755760067.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:47.668Z,1755760067.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:48.069Z,1755760068.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:48.488Z,1755760068.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:48.864Z,1755760068.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:49.416Z,1755760069.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:49.689Z,1755760069.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:50.100Z,1755760070.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:50.586Z,1755760070.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:50.891Z,1755760070.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:51.327Z,1755760071.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:51.730Z,1755760071.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:52.098Z,1755760072.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:52.563Z,1755760072.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:52.928Z,1755760072.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:53.309Z,1755760073.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:53.761Z,1755760073.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:54.123Z,1755760074.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:54.562Z,1755760074.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:54.923Z,1755760074.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:07:54.925Z,1755760074.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:55.068Z,1755760075.068 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:07:55.068Z,1755760075.068 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:07:55.320Z,1755760075.320 [DAT](INFO): DAT read: user:2102>

2025-08-21T07:07:55.321Z,1755760075.321 [DAT](INFO): DAT read: Tx time:07:07:54.5198

2025-08-21T07:07:55.321Z,1755760075.321 [DAT](INFO): Ping request sent.
2025-08-21T07:07:55.321Z,1755760075.321 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:07:55.322Z,1755760075.322 [DAT](INFO): publishing transmit ping time
2025-08-21T07:07:55.322Z,1755760075.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-08-21T07:07:55.333Z,1755760075.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:55.572Z,1755760075.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251018
2025-08-21T07:07:55.768Z,1755760075.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:55.825Z,1755760075.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503771
2025-08-21T07:07:56.076Z,1755760076.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754768
2025-08-21T07:07:56.163Z,1755760076.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:56.328Z,1755760076.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006790
2025-08-21T07:07:56.588Z,1755760076.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266882
2025-08-21T07:07:56.606Z,1755760076.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:56.840Z,1755760076.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518715
2025-08-21T07:07:56.956Z,1755760076.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:57.092Z,1755760077.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770775
2025-08-21T07:07:57.344Z,1755760077.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022820
2025-08-21T07:07:57.385Z,1755760077.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:57.596Z,1755760077.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274769
2025-08-21T07:07:57.772Z,1755760077.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:57.849Z,1755760077.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527770
2025-08-21T07:07:58.100Z,1755760078.100 [DAT](INFO): DAT read: Rx Time:07:07:56.9364

2025-08-21T07:07:58.101Z,1755760078.101 [DAT](INFO): Rx dataTimestamp_ set to:1755760078.100369
2025-08-21T07:07:58.101Z,1755760078.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779790
2025-08-21T07:07:58.206Z,1755760078.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:58.352Z,1755760078.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030744
2025-08-21T07:07:58.592Z,1755760078.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m.
2025-08-21T07:07:58.607Z,1755760078.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285451
2025-08-21T07:07:58.861Z,1755760078.861 [DAT](INFO): DAT read: 07:07:56.9364 LVL= 32752, 23281, 24114, 32755, AGC= 49, IDX= 380, 0.42,-2.693,-0.637,-1.083,-0.967, PHS=-1.624, 0.374,-0.160, RAW= 285.0,  15.5, CAL= 283.6,  22.7, ROT= 226.4, -22.7

2025-08-21T07:07:58.863Z,1755760078.863 [DAT](INFO): got valid direction response:
 07:07:56.9364 LVL= 32752, 23281, 24114, 32755, AGC= 49, IDX= 380, 0.42,-2.693,-0.637,-1.083,-0.967, PHS=-1.624, 0.374,-0.160, RAW= 285.0,  15.5, CAL= 283.6,  22.7, ROT= 226.4, -22.7

2025-08-21T07:07:58.863Z,1755760078.863 [DAT](INFO): DAT read: Bearing  40.5, -40.0 (Local)

2025-08-21T07:07:58.864Z,1755760078.864 [DAT](INFO): Local bearing/azimuth received:
 Bearing  40.5, -40.0 (Local)

2025-08-21T07:07:58.865Z,1755760078.865 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m  (Round-trip  12.5 ms) speed  0.0 m/s

2025-08-21T07:07:58.866Z,1755760078.866 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:07:58.867Z,1755760078.867 [DAT](INFO): direction in FSK: [-0.636200,-0.668076,0.385906]
2025-08-21T07:07:58.867Z,1755760078.867 [DAT](INFO): publishing direction and range info
2025-08-21T07:07:58.990Z,1755760078.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 60.286554 s,
      deltaX: -4.099999 m,
      approachRate: -0.068009 m/s,
      rangeRepo size: 4

2025-08-21T07:07:58.997Z,1755760078.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.248751 m,
      bearing: 319.448635 deg,
      lat: 36.779414 deg,
      lon: -121.859401 deg,
      deltaT: 60.286554 s,
      deltaX: -4.077433 m,
      approachRate: -0.067634 m/s,
      posRepo size: 4

2025-08-21T07:07:58.998Z,1755760078.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:07:59.388Z,1755760079.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:07:59.796Z,1755760079.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:00.186Z,1755760080.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:00.605Z,1755760080.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:01.020Z,1755760081.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:01.410Z,1755760081.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:01.827Z,1755760081.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:02.202Z,1755760082.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:02.626Z,1755760082.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:03.032Z,1755760083.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:03.543Z,1755760083.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:03.874Z,1755760083.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:04.288Z,1755760084.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:04.661Z,1755760084.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:05.039Z,1755760085.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:05.435Z,1755760085.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:05.851Z,1755760085.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:06.237Z,1755760086.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:06.665Z,1755760086.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:07.044Z,1755760087.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:07.449Z,1755760087.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:07.874Z,1755760087.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:08.272Z,1755760088.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:08.693Z,1755760088.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:09.094Z,1755760089.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:09.513Z,1755760089.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:09.895Z,1755760089.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:10.276Z,1755760090.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:10.729Z,1755760090.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:11.104Z,1755760091.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:11.514Z,1755760091.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:11.932Z,1755760091.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:12.336Z,1755760092.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:12.754Z,1755760092.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:13.124Z,1755760093.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:13.432Z,1755760093.432 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:08:13.532Z,1755760093.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:13.964Z,1755760093.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:14.337Z,1755760094.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:14.436Z,1755760094.436 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:08:14.809Z,1755760094.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:15.165Z,1755760095.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:15.548Z,1755760095.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:16.049Z,1755760096.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:16.372Z,1755760096.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:16.845Z,1755760096.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:17.195Z,1755760097.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:17.608Z,1755760097.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:18.091Z,1755760098.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:18.410Z,1755760098.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:18.885Z,1755760098.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:19.235Z,1755760099.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:19.652Z,1755760099.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:20.039Z,1755760100.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:20.477Z,1755760100.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:20.921Z,1755760100.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:21.321Z,1755760101.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:21.733Z,1755760101.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:22.166Z,1755760102.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:22.534Z,1755760102.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:22.985Z,1755760102.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:23.345Z,1755760103.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:23.737Z,1755760103.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:24.207Z,1755760104.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:24.547Z,1755760104.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:24.987Z,1755760104.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:25.355Z,1755760105.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:25.759Z,1755760105.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:26.216Z,1755760106.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:26.580Z,1755760106.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:27.008Z,1755760107.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:27.381Z,1755760107.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:27.783Z,1755760107.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:28.257Z,1755760108.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:28.635Z,1755760108.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:29.012Z,1755760109.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:29.405Z,1755760109.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:29.828Z,1755760109.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:30.250Z,1755760110.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:30.622Z,1755760110.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:31.047Z,1755760111.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:31.450Z,1755760111.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:31.818Z,1755760111.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:32.256Z,1755760112.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:32.713Z,1755760112.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:33.101Z,1755760113.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:33.501Z,1755760113.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:33.859Z,1755760113.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:34.321Z,1755760114.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:34.685Z,1755760114.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:35.100Z,1755760115.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:35.460Z,1755760115.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:35.864Z,1755760115.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:36.309Z,1755760116.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:36.673Z,1755760116.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:37.106Z,1755760117.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:37.488Z,1755760117.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:37.876Z,1755760117.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:38.326Z,1755760118.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:38.720Z,1755760118.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:39.138Z,1755760119.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:39.515Z,1755760119.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:39.931Z,1755760119.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:40.345Z,1755760120.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:40.711Z,1755760120.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:41.183Z,1755760121.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:41.513Z,1755760121.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:41.923Z,1755760121.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:42.345Z,1755760122.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:42.731Z,1755760122.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:43.202Z,1755760123.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:43.533Z,1755760123.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:43.937Z,1755760123.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:44.389Z,1755760124.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:44.564Z,1755760124.564 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:08:44.761Z,1755760124.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:45.241Z,1755760125.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:45.555Z,1755760125.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:45.568Z,1755760125.568 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:08:45.967Z,1755760125.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:46.403Z,1755760126.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:46.764Z,1755760126.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:47.334Z,1755760127.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:47.607Z,1755760127.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:48.005Z,1755760128.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:48.458Z,1755760128.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:48.790Z,1755760128.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:49.272Z,1755760129.272 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +163  +728.51,       +28.42,   8.30,  0.00
2025-08-21T07:08:49.287Z,1755760129.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:49.625Z,1755760129.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:49.997Z,1755760129.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:50.437Z,1755760130.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:50.816Z,1755760130.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:51.273Z,1755760131.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:51.638Z,1755760131.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:52.030Z,1755760132.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:52.462Z,1755760132.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:52.823Z,1755760132.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:53.248Z,1755760133.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:53.661Z,1755760133.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:54.060Z,1755760134.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:54.480Z,1755760134.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:54.864Z,1755760134.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:55.277Z,1755760135.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:08:55.286Z,1755760135.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:55.357Z,1755760135.357 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:08:55.357Z,1755760135.357 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:08:55.608Z,1755760135.608 [DAT](INFO): DAT read: user:2103>

2025-08-21T07:08:55.609Z,1755760135.609 [DAT](INFO): DAT read: Tx time:07:08:54.8195

2025-08-21T07:08:55.609Z,1755760135.609 [DAT](INFO): Ping request sent.
2025-08-21T07:08:55.609Z,1755760135.609 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:08:55.609Z,1755760135.609 [DAT](INFO): publishing transmit ping time
2025-08-21T07:08:55.610Z,1755760135.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-21T07:08:55.728Z,1755760135.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:55.729Z,1755760135.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 9.30 m and bearing: 3.157495 deg. Not drifting fast enough.
2025-08-21T07:08:55.860Z,1755760135.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250956
2025-08-21T07:08:56.063Z,1755760136.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:56.065Z,1755760136.065 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-21T07:08:56.065Z,1755760136.065 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-21T07:08:56.065Z,1755760136.065 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-21T07:08:56.065Z,1755760136.065 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-21T07:08:56.112Z,1755760136.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503112
2025-08-21T07:08:56.364Z,1755760136.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754900
2025-08-21T07:08:56.488Z,1755760136.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:56.616Z,1755760136.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007059
2025-08-21T07:08:56.868Z,1755760136.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258996
2025-08-21T07:08:56.890Z,1755760136.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:57.120Z,1755760137.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511010
2025-08-21T07:08:57.273Z,1755760137.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:57.372Z,1755760137.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763155
2025-08-21T07:08:57.624Z,1755760137.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014872
2025-08-21T07:08:57.698Z,1755760137.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:57.877Z,1755760137.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267651
2025-08-21T07:08:58.084Z,1755760138.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:58.128Z,1755760138.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519002
2025-08-21T07:08:58.383Z,1755760138.383 [DAT](INFO): DAT read: Rx Time:07:08:57.2349

2025-08-21T07:08:58.384Z,1755760138.384 [DAT](INFO): Rx dataTimestamp_ set to:1755760138.383276
2025-08-21T07:08:58.384Z,1755760138.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774812
2025-08-21T07:08:58.514Z,1755760138.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:58.632Z,1755760138.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022934
2025-08-21T07:08:58.884Z,1755760138.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275054
2025-08-21T07:08:58.887Z,1755760138.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m.
2025-08-21T07:08:59.142Z,1755760139.142 [DAT](INFO): DAT read: 07:08:57.2349 LVL= 22448, 20641, 18546, 25667, AGC= 43, IDX= 432, 0.08, 0.328, 1.314, 2.950, 2.113, PHS=-1.683,-0.753, 0.793, RAW= 231.8,  15.0, CAL= 234.7,  17.3, ROT= 275.3, -17.3

2025-08-21T07:08:59.144Z,1755760139.144 [DAT](INFO): got valid direction response:
 07:08:57.2349 LVL= 22448, 20641, 18546, 25667, AGC= 43, IDX= 432, 0.08, 0.328, 1.314, 2.950, 2.113, PHS=-1.683,-0.753, 0.793, RAW= 231.8,  15.0, CAL= 234.7,  17.3, ROT= 275.3, -17.3

2025-08-21T07:08:59.146Z,1755760139.146 [DAT](INFO): DAT read: Bearing 333.4, -65.6 (Local)

2025-08-21T07:08:59.146Z,1755760139.146 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.4, -65.6 (Local)

2025-08-21T07:08:59.148Z,1755760139.148 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m  (Round-trip  11.3 ms) speed  0.0 m/s

2025-08-21T07:08:59.149Z,1755760139.149 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:08:59.150Z,1755760139.150 [DAT](INFO): direction in FSK: [0.088192,-0.950679,0.297375]
2025-08-21T07:08:59.151Z,1755760139.151 [DAT](INFO): publishing direction and range info
2025-08-21T07:08:59.356Z,1755760139.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 60.279947 s,
      deltaX: -0.900001 m,
      approachRate: -0.014930 m/s,
      rangeRepo size: 4

2025-08-21T07:08:59.394Z,1755760139.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.353799 m,
      bearing: 6.613560 deg,
      lat: 36.779389 deg,
      lon: -121.859402 deg,
      deltaT: 60.279947 s,
      deltaX: -0.894952 m,
      approachRate: -0.014847 m/s,
      posRepo size: 4

2025-08-21T07:08:59.394Z,1755760139.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:08:59.733Z,1755760139.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:00.099Z,1755760140.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:00.527Z,1755760140.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:00.906Z,1755760140.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:01.309Z,1755760141.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:01.822Z,1755760141.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:02.136Z,1755760142.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:02.563Z,1755760142.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:02.948Z,1755760142.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:03.348Z,1755760143.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:03.756Z,1755760143.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:04.152Z,1755760144.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:04.572Z,1755760144.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:04.944Z,1755760144.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:05.357Z,1755760145.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:05.787Z,1755760145.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:06.180Z,1755760146.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:06.603Z,1755760146.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:06.971Z,1755760146.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:07.378Z,1755760147.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:07.821Z,1755760147.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:08.190Z,1755760148.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:08.631Z,1755760148.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:08.995Z,1755760148.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:09.409Z,1755760149.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:09.844Z,1755760149.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:10.206Z,1755760150.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:10.627Z,1755760150.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:11.029Z,1755760151.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:11.412Z,1755760151.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:11.867Z,1755760151.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:12.237Z,1755760152.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:12.656Z,1755760152.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:13.037Z,1755760153.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:13.434Z,1755760153.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:13.865Z,1755760153.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:14.297Z,1755760154.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:14.682Z,1755760154.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:15.054Z,1755760155.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:15.457Z,1755760155.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:15.689Z,1755760155.689 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:09:15.880Z,1755760155.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:16.360Z,1755760156.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:16.692Z,1755760156.692 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:09:16.734Z,1755760156.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:17.186Z,1755760157.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:17.549Z,1755760157.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:17.954Z,1755760157.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:18.327Z,1755760158.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:18.758Z,1755760158.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:19.152Z,1755760159.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:19.536Z,1755760159.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:19.966Z,1755760159.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:20.364Z,1755760160.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:20.795Z,1755760160.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:21.166Z,1755760161.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:21.561Z,1755760161.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:21.987Z,1755760161.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:22.387Z,1755760162.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:22.813Z,1755760162.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:23.218Z,1755760163.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:23.586Z,1755760163.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:24.010Z,1755760164.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:24.392Z,1755760164.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:24.831Z,1755760164.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:25.212Z,1755760165.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:25.596Z,1755760165.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:26.054Z,1755760166.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:26.421Z,1755760166.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:26.849Z,1755760166.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:27.217Z,1755760167.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:27.632Z,1755760167.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:28.051Z,1755760168.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:28.426Z,1755760168.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:28.940Z,1755760168.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:29.306Z,1755760169.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:29.674Z,1755760169.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:30.061Z,1755760170.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:30.513Z,1755760170.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:30.963Z,1755760170.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:31.295Z,1755760171.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:31.681Z,1755760171.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:32.100Z,1755760172.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:32.466Z,1755760172.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:32.946Z,1755760172.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:33.304Z,1755760173.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:33.681Z,1755760173.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:34.134Z,1755760174.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:34.498Z,1755760174.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:34.966Z,1755760174.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:35.302Z,1755760175.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:35.704Z,1755760175.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:36.129Z,1755760176.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:36.509Z,1755760176.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:37.002Z,1755760177.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:37.325Z,1755760177.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:37.749Z,1755760177.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:38.158Z,1755760178.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:38.528Z,1755760178.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:39.002Z,1755760179.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:39.362Z,1755760179.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:39.764Z,1755760179.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:40.192Z,1755760180.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:40.560Z,1755760180.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:41.037Z,1755760181.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:41.392Z,1755760181.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:41.773Z,1755760181.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:42.241Z,1755760182.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:42.581Z,1755760182.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:43.075Z,1755760183.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:43.417Z,1755760183.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:43.825Z,1755760183.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:44.302Z,1755760184.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:44.630Z,1755760184.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:45.240Z,1755760185.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:45.518Z,1755760185.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:45.914Z,1755760185.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:46.332Z,1755760186.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:46.716Z,1755760186.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:46.832Z,1755760186.832 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:09:47.129Z,1755760187.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:47.504Z,1755760187.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:47.824Z,1755760187.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:09:47.916Z,1755760187.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:48.331Z,1755760188.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:48.728Z,1755760188.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:49.320Z,1755760189.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:49.668Z,1755760189.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:50.049Z,1755760190.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:50.499Z,1755760190.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:50.863Z,1755760190.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:51.283Z,1755760191.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:51.664Z,1755760191.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:52.069Z,1755760192.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:52.499Z,1755760192.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:52.898Z,1755760192.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:53.319Z,1755760193.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:53.722Z,1755760193.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:54.107Z,1755760194.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:54.524Z,1755760194.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:54.902Z,1755760194.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:55.326Z,1755760195.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:09:55.328Z,1755760195.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:55.356Z,1755760195.356 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:09:55.356Z,1755760195.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:09:55.608Z,1755760195.608 [DAT](INFO): DAT read: user:2104>

2025-08-21T07:09:55.609Z,1755760195.609 [DAT](INFO): DAT read: Tx time:07:09:54.8193

2025-08-21T07:09:55.609Z,1755760195.609 [DAT](INFO): Ping request sent.
2025-08-21T07:09:55.609Z,1755760195.609 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:09:55.609Z,1755760195.609 [DAT](INFO): publishing transmit ping time
2025-08-21T07:09:55.610Z,1755760195.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-08-21T07:09:55.756Z,1755760195.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:55.861Z,1755760195.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251163
2025-08-21T07:09:56.112Z,1755760196.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503026
2025-08-21T07:09:56.135Z,1755760196.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:56.364Z,1755760196.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754910
2025-08-21T07:09:56.553Z,1755760196.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:56.616Z,1755760196.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007063
2025-08-21T07:09:56.868Z,1755760196.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258922
2025-08-21T07:09:56.927Z,1755760196.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:57.121Z,1755760197.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511469
2025-08-21T07:09:57.350Z,1755760197.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:57.372Z,1755760197.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762714
2025-08-21T07:09:57.624Z,1755760197.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014939
2025-08-21T07:09:57.748Z,1755760197.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:57.876Z,1755760197.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266848
2025-08-21T07:09:58.128Z,1755760198.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518919
2025-08-21T07:09:58.134Z,1755760198.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:58.381Z,1755760198.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771354
2025-08-21T07:09:58.558Z,1755760198.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:58.632Z,1755760198.632 [DAT](INFO): DAT read: Rx Time:07:09:57.2658

2025-08-21T07:09:58.633Z,1755760198.633 [DAT](INFO): Rx dataTimestamp_ set to:1755760198.632483
2025-08-21T07:09:58.633Z,1755760198.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023971
2025-08-21T07:09:58.885Z,1755760198.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275671
2025-08-21T07:09:59.003Z,1755760199.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m.
2025-08-21T07:09:59.143Z,1755760199.143 [DAT](INFO): DAT read: 07:09:57.2658 LVL= 32480, 26529, 32754, 32755, AGC= 69, IDX= 254, 0.20,-0.366, 1.384,-0.546, 0.141, PHS=-0.405, 1.288,-0.732, RAW= 338.7,  -1.6, CAL= 338.1,  -4.6, ROT= 171.9,   4.6

2025-08-21T07:09:59.145Z,1755760199.145 [DAT](INFO): got valid direction response:
 07:09:57.2658 LVL= 32480, 26529, 32754, 32755, AGC= 69, IDX= 254, 0.20,-0.366, 1.384,-0.546, 0.141, PHS=-0.405, 1.288,-0.732, RAW= 338.7,  -1.6, CAL= 338.1,  -4.6, ROT= 171.9,   4.6

2025-08-21T07:09:59.151Z,1755760199.151 [DAT](INFO): DAT read: Bearing 174.7,  10.9 (Local)

2025-08-21T07:09:59.152Z,1755760199.152 [DAT](INFO): Local bearing/azimuth received:
 Bearing 174.7,  10.9 (Local)

2025-08-21T07:09:59.154Z,1755760199.154 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m  (Round-trip  42.3 ms) speed -0.7 m/s

2025-08-21T07:09:59.156Z,1755760199.156 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:09:59.158Z,1755760199.158 [DAT](INFO): direction in FSK: [-0.986835,0.140448,-0.080199]
2025-08-21T07:09:59.158Z,1755760199.158 [DAT](INFO): publishing direction and range info
2025-08-21T07:09:59.450Z,1755760199.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.700001 m,
      deltaT: 60.000235 s,
      deltaX: 23.300001 m,
      approachRate: 0.388332 m/s,
      rangeRepo size: 4

2025-08-21T07:09:59.465Z,1755760199.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.524363 m,
      bearing: 354.421380 deg,
      lat: 36.779386 deg,
      lon: -121.859403 deg,
      deltaT: 60.000235 s,
      deltaX: 23.170563 m,
      approachRate: 0.386175 m/s,
      posRepo size: 4

2025-08-21T07:09:59.465Z,1755760199.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:09:59.851Z,1755760199.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:00.276Z,1755760200.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:00.636Z,1755760200.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:01.047Z,1755760201.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:01.429Z,1755760201.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:01.820Z,1755760201.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:02.208Z,1755760202.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:02.676Z,1755760202.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:03.032Z,1755760203.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:03.445Z,1755760203.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:03.824Z,1755760203.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:04.235Z,1755760204.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:04.621Z,1755760204.621 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022610570, +10.6,   0.0,1492.2,  0
2025-08-21T07:10:04.665Z,1755760204.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:05.062Z,1755760205.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:05.465Z,1755760205.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:05.859Z,1755760205.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:06.248Z,1755760206.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:06.699Z,1755760206.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:07.073Z,1755760207.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:07.486Z,1755760207.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:07.864Z,1755760207.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:08.280Z,1755760208.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:08.696Z,1755760208.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:09.097Z,1755760209.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:09.507Z,1755760209.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:09.913Z,1755760209.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:10.290Z,1755760210.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:10.718Z,1755760210.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:11.109Z,1755760211.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:11.537Z,1755760211.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:11.905Z,1755760211.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:12.320Z,1755760212.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:12.736Z,1755760212.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:13.203Z,1755760213.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:13.506Z,1755760213.506 [BPC1](ERROR): BPC1B got IPBS message with 6 sticks (min is 7).
2025-08-21T07:10:13.568Z,1755760213.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:13.943Z,1755760213.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:14.364Z,1755760214.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:14.765Z,1755760214.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:15.175Z,1755760215.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:15.562Z,1755760215.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:15.950Z,1755760215.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:16.363Z,1755760216.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:16.790Z,1755760216.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:17.208Z,1755760217.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:17.636Z,1755760217.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:17.976Z,1755760217.976 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:10:18.038Z,1755760218.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:18.447Z,1755760218.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:18.884Z,1755760218.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:18.980Z,1755760218.980 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:10:19.251Z,1755760219.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:19.694Z,1755760219.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:20.041Z,1755760220.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:20.446Z,1755760220.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:20.867Z,1755760220.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:21.256Z,1755760221.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:21.674Z,1755760221.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:22.067Z,1755760222.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:22.501Z,1755760222.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:22.929Z,1755760222.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:23.315Z,1755760223.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:23.741Z,1755760223.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:24.154Z,1755760224.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:24.542Z,1755760224.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:24.984Z,1755760224.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:25.367Z,1755760225.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:25.790Z,1755760225.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:26.186Z,1755760226.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:26.562Z,1755760226.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:26.997Z,1755760226.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:27.365Z,1755760227.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:27.808Z,1755760227.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:28.194Z,1755760228.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:28.599Z,1755760228.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:29.019Z,1755760229.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:29.390Z,1755760229.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:29.867Z,1755760229.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:30.265Z,1755760230.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:30.782Z,1755760230.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:31.111Z,1755760231.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:31.580Z,1755760231.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:31.953Z,1755760231.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:32.349Z,1755760232.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:32.832Z,1755760232.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:33.160Z,1755760233.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:33.560Z,1755760233.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:33.973Z,1755760233.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:34.354Z,1755760234.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:34.854Z,1755760234.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:35.220Z,1755760235.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:35.605Z,1755760235.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:36.096Z,1755760236.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:36.416Z,1755760236.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:36.880Z,1755760236.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:37.230Z,1755760237.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:37.615Z,1755760237.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:38.125Z,1755760238.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:38.508Z,1755760238.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:38.968Z,1755760238.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:39.391Z,1755760239.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:39.756Z,1755760239.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:40.185Z,1755760240.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:40.583Z,1755760240.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:40.979Z,1755760240.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:41.372Z,1755760241.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:41.777Z,1755760241.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:42.208Z,1755760242.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:42.579Z,1755760242.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:42.000Z,1755760243.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:43.397Z,1755760243.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:43.781Z,1755760243.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:44.235Z,1755760244.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:44.649Z,1755760244.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:45.065Z,1755760245.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:45.426Z,1755760245.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:45.819Z,1755760245.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:46.254Z,1755760246.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:46.620Z,1755760246.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:47.055Z,1755760247.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:47.420Z,1755760247.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:47.821Z,1755760247.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:48.252Z,1755760248.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:48.625Z,1755760248.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:49.077Z,1755760249.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:49.116Z,1755760249.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:10:49.439Z,1755760249.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:49.850Z,1755760249.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:50.122Z,1755760250.122 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:10:50.282Z,1755760250.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:50.744Z,1755760250.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:51.183Z,1755760251.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:51.670Z,1755760251.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:52.098Z,1755760252.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:52.464Z,1755760252.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:52.866Z,1755760252.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:53.303Z,1755760253.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:53.669Z,1755760253.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:54.134Z,1755760254.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:54.479Z,1755760254.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:54.882Z,1755760254.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:55.312Z,1755760255.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:55.686Z,1755760255.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:10:55.688Z,1755760255.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:55.844Z,1755760255.844 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:10:55.844Z,1755760255.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:10:56.098Z,1755760256.098 [DAT](INFO): DAT read: user:2105>

2025-08-21T07:10:56.099Z,1755760256.099 [DAT](INFO): DAT read: Tx time:07:10:55.3191

2025-08-21T07:10:56.099Z,1755760256.099 [DAT](INFO): Ping request sent.
2025-08-21T07:10:56.099Z,1755760256.099 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:10:56.099Z,1755760256.099 [DAT](INFO): publishing transmit ping time
2025-08-21T07:10:56.100Z,1755760256.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000869
2025-08-21T07:10:56.209Z,1755760256.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:56.348Z,1755760256.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249078
2025-08-21T07:10:56.550Z,1755760256.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:56.602Z,1755760256.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502542
2025-08-21T07:10:56.852Z,1755760256.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753143
2025-08-21T07:10:56.964Z,1755760256.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:57.107Z,1755760257.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006944
2025-08-21T07:10:57.359Z,1755760257.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260216
2025-08-21T07:10:57.374Z,1755760257.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:57.608Z,1755760257.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509182
2025-08-21T07:10:57.820Z,1755760257.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:57.860Z,1755760257.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761292
2025-08-21T07:10:58.115Z,1755760258.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015396
2025-08-21T07:10:58.236Z,1755760258.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:58.364Z,1755760258.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265073
2025-08-21T07:10:58.595Z,1755760258.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:58.616Z,1755760258.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517150
2025-08-21T07:10:58.868Z,1755760258.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769253
2025-08-21T07:10:59.021Z,1755760259.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:59.124Z,1755760259.124 [DAT](INFO): DAT read: Rx Time:07:10:57.9271

2025-08-21T07:10:59.125Z,1755760259.125 [DAT](INFO): Rx dataTimestamp_ set to:1755760259.124576
2025-08-21T07:10:59.129Z,1755760259.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027791
2025-08-21T07:10:59.372Z,1755760259.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273222
2025-08-21T07:10:59.526Z,1755760259.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:10:59.653Z,1755760259.653 [DAT](INFO): DAT read: 07:10:57.9271 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX=  34, 0.40, 0.337, 1.306, 0.742,-0.399, PHS= 0.839, 1.750, 1.097, RAW= 314.1, -58.0, CAL= 309.4, -60.0, ROT= 200.6,  60.0

2025-08-21T07:10:59.655Z,1755760259.655 [DAT](INFO): got valid direction response:
 07:10:57.9271 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX=  34, 0.40, 0.337, 1.306, 0.742,-0.399, PHS= 0.839, 1.750, 1.097, RAW= 314.1, -58.0, CAL= 309.4, -60.0, ROT= 200.6,  60.0

2025-08-21T07:10:59.656Z,1755760259.656 [DAT](INFO): DAT read: $Error in header

2025-08-21T07:10:59.656Z,1755760259.656 [DAT](INFO): Received a bad header
2025-08-21T07:10:59.667Z,1755760259.667 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T07:10:59.668Z,1755760259.668 [DAT](INFO): direction in FSK: [-0.468030,-0.175921,-0.866025]
2025-08-21T07:10:59.868Z,1755760259.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:00.292Z,1755760260.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:00.680Z,1755760260.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:01.092Z,1755760261.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:01.543Z,1755760261.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:01.888Z,1755760261.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:02.313Z,1755760262.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:02.695Z,1755760262.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:03.096Z,1755760263.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:03.562Z,1755760263.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:03.941Z,1755760263.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:04.392Z,1755760264.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:04.727Z,1755760264.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:05.117Z,1755760265.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:05.550Z,1755760265.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:05.918Z,1755760265.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:06.176Z,1755760266.176 [DAT](INFO): Reached modem response timeout
2025-08-21T07:11:06.369Z,1755760266.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:06.735Z,1755760266.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:07.147Z,1755760267.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:07.618Z,1755760267.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:08.077Z,1755760268.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:08.445Z,1755760268.445 [DAT](INFO): DAT read: Response Not Received

2025-08-21T07:11:08.446Z,1755760268.446 [DAT](INFO): response not received
2025-08-21T07:11:08.446Z,1755760268.446 [DAT](ERROR): No response from remote modem.
2025-08-21T07:11:08.529Z,1755760268.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:08.943Z,1755760268.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:09.414Z,1755760269.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:09.802Z,1755760269.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:10.195Z,1755760270.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:10.622Z,1755760270.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:11.058Z,1755760271.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:11.453Z,1755760271.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:11.821Z,1755760271.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:12.217Z,1755760272.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:12.657Z,1755760272.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:13.015Z,1755760273.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:13.457Z,1755760273.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:13.817Z,1755760273.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:14.223Z,1755760274.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:14.656Z,1755760274.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:15.030Z,1755760275.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:15.540Z,1755760275.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:15.903Z,1755760275.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:16.418Z,1755760276.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:16.795Z,1755760276.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:17.186Z,1755760277.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:17.645Z,1755760277.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:17.999Z,1755760277.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:18.472Z,1755760278.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:18.809Z,1755760278.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:19.204Z,1755760279.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:19.642Z,1755760279.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:19.000Z,1755760280.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:20.240Z,1755760280.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:11:20.471Z,1755760280.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:20.834Z,1755760280.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:21.231Z,1755760281.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:21.254Z,1755760281.254 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:11:21.696Z,1755760281.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:22.038Z,1755760282.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:22.530Z,1755760282.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:22.842Z,1755760282.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:23.236Z,1755760283.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:23.689Z,1755760283.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:24.118Z,1755760284.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:24.594Z,1755760284.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:24.956Z,1755760284.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:25.341Z,1755760285.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:25.752Z,1755760285.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:26.146Z,1755760286.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:26.608Z,1755760286.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:26.954Z,1755760286.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:27.349Z,1755760287.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:27.807Z,1755760287.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:28.178Z,1755760288.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:28.636Z,1755760288.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:28.965Z,1755760288.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:29.431Z,1755760289.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:29.831Z,1755760289.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:30.211Z,1755760290.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:30.645Z,1755760290.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:31.007Z,1755760291.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:31.417Z,1755760291.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:31.823Z,1755760291.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:32.256Z,1755760292.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:32.681Z,1755760292.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:33.022Z,1755760293.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:33.442Z,1755760293.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:33.862Z,1755760293.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:34.226Z,1755760294.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:34.693Z,1755760294.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:35.178Z,1755760295.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:35.700Z,1755760295.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:36.060Z,1755760296.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:36.444Z,1755760296.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:36.866Z,1755760296.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:37.310Z,1755760297.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:37.744Z,1755760297.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:38.111Z,1755760298.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:38.509Z,1755760298.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:38.927Z,1755760298.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:39.296Z,1755760299.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:39.769Z,1755760299.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:40.138Z,1755760300.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:40.517Z,1755760300.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:40.939Z,1755760300.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:41.337Z,1755760301.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:41.725Z,1755760301.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:42.141Z,1755760302.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:42.557Z,1755760302.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:42.980Z,1755760302.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:43.450Z,1755760303.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:43.958Z,1755760303.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:44.321Z,1755760304.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:44.729Z,1755760304.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:45.158Z,1755760305.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:45.532Z,1755760305.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:45.982Z,1755760305.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:46.341Z,1755760306.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:46.774Z,1755760306.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:47.204Z,1755760307.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:47.572Z,1755760307.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:47.577Z,1755760307.577 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-21T07:01:47.3Z
2025-08-21T07:11:47.577Z,1755760307.577 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-21T07:11:47.577Z,1755760307.577 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:11:47.577Z,1755760307.577 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-21T07:11:47.577Z,1755760307.577 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:11:47.577Z,1755760307.577 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-21T07:11:48.002Z,1755760308.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:48.006Z,1755760308.006 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T07:11:48.006Z,1755760308.006 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-21T07:11:48.006Z,1755760308.006 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-21T07:11:48.007Z,1755760308.007 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:11:48.007Z,1755760308.007 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-21T07:11:48.565Z,1755760308.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:48.990Z,1755760308.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:49.428Z,1755760309.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:49.773Z,1755760309.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:50.223Z,1755760310.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:50.645Z,1755760310.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:51.037Z,1755760311.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:51.372Z,1755760311.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:11:51.444Z,1755760311.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:51.816Z,1755760311.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:52.226Z,1755760312.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:52.376Z,1755760312.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:11:52.614Z,1755760312.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:53.049Z,1755760313.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:53.421Z,1755760313.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:53.822Z,1755760313.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:54.254Z,1755760314.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:54.626Z,1755760314.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:55.087Z,1755760315.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:55.453Z,1755760315.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:55.862Z,1755760315.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:11:55.868Z,1755760315.868 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:11:55.868Z,1755760315.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:11:55.876Z,1755760315.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:56.120Z,1755760316.120 [DAT](INFO): DAT read: 

2025-08-21T07:11:56.121Z,1755760316.121 [DAT](INFO): DAT read: Tx time:07:11:55.3189

2025-08-21T07:11:56.121Z,1755760316.121 [DAT](INFO): Ping request sent.
2025-08-21T07:11:56.121Z,1755760316.121 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:11:56.121Z,1755760316.121 [DAT](INFO): publishing transmit ping time
2025-08-21T07:11:56.122Z,1755760316.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-21T07:11:56.282Z,1755760316.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:56.372Z,1755760316.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251151
2025-08-21T07:11:56.624Z,1755760316.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503283
2025-08-21T07:11:56.648Z,1755760316.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:56.876Z,1755760316.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755118
2025-08-21T07:11:57.080Z,1755760317.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:57.130Z,1755760317.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008189
2025-08-21T07:11:57.380Z,1755760317.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259180
2025-08-21T07:11:57.459Z,1755760317.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:57.632Z,1755760317.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511183
2025-08-21T07:11:57.869Z,1755760317.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:57.888Z,1755760317.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767180
2025-08-21T07:11:58.142Z,1755760318.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021062
2025-08-21T07:11:58.283Z,1755760318.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:58.393Z,1755760318.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271525
2025-08-21T07:11:58.644Z,1755760318.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523187
2025-08-21T07:11:58.661Z,1755760318.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:58.896Z,1755760318.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775224
2025-08-21T07:11:59.106Z,1755760319.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:59.149Z,1755760319.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027936
2025-08-21T07:11:59.400Z,1755760319.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279185
2025-08-21T07:11:59.484Z,1755760319.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:59.652Z,1755760319.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531140
2025-08-21T07:11:59.880Z,1755760319.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:11:59.904Z,1755760319.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783107
2025-08-21T07:12:00.157Z,1755760320.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035693
2025-08-21T07:12:00.303Z,1755760320.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:00.408Z,1755760320.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287288
2025-08-21T07:12:00.660Z,1755760320.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539188
2025-08-21T07:12:00.719Z,1755760320.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:00.917Z,1755760320.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795799
2025-08-21T07:12:01.136Z,1755760321.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:01.165Z,1755760321.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043722
2025-08-21T07:12:01.419Z,1755760321.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.296775
2025-08-21T07:12:01.503Z,1755760321.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:01.668Z,1755760321.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547145
2025-08-21T07:12:01.892Z,1755760321.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:01.920Z,1755760321.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.799317
2025-08-21T07:12:02.173Z,1755760322.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051787
2025-08-21T07:12:02.352Z,1755760322.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:02.425Z,1755760322.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304218
2025-08-21T07:12:02.676Z,1755760322.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555275
2025-08-21T07:12:02.719Z,1755760322.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:02.929Z,1755760322.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.807525
2025-08-21T07:12:03.139Z,1755760323.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:03.180Z,1755760323.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059287
2025-08-21T07:12:03.433Z,1755760323.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311551
2025-08-21T07:12:03.581Z,1755760323.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:03.684Z,1755760323.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563186
2025-08-21T07:12:03.937Z,1755760323.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815442
2025-08-21T07:12:04.128Z,1755760324.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:04.189Z,1755760324.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067824
2025-08-21T07:12:04.440Z,1755760324.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319139
2025-08-21T07:12:04.656Z,1755760324.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:04.692Z,1755760324.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571276
2025-08-21T07:12:04.944Z,1755760324.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823108
2025-08-21T07:12:05.196Z,1755760325.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075002
2025-08-21T07:12:05.218Z,1755760325.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:05.449Z,1755760325.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327780
2025-08-21T07:12:05.552Z,1755760325.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:05.700Z,1755760325.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579163
2025-08-21T07:12:05.949Z,1755760325.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:05.952Z,1755760325.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831232
2025-08-21T07:12:06.204Z,1755760326.204 [DAT](INFO): Reached modem response timeout
2025-08-21T07:12:06.379Z,1755760326.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:06.756Z,1755760326.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:07.207Z,1755760327.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:07.579Z,1755760327.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:07.979Z,1755760327.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:08.401Z,1755760328.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:08.474Z,1755760328.474 [DAT](INFO): DAT read: Response Not Received

2025-08-21T07:12:08.474Z,1755760328.474 [DAT](INFO): response not received
2025-08-21T07:12:08.474Z,1755760328.474 [DAT](ERROR): No response from remote modem.
2025-08-21T07:12:08.778Z,1755760328.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:09.241Z,1755760329.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:09.607Z,1755760329.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:09.996Z,1755760329.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:10.417Z,1755760330.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:10.827Z,1755760330.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:11.249Z,1755760331.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:11.631Z,1755760331.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:12.014Z,1755760332.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:12.441Z,1755760332.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:12.938Z,1755760332.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:13.276Z,1755760333.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:13.646Z,1755760333.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:14.043Z,1755760334.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:14.472Z,1755760334.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:14.841Z,1755760334.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:15.341Z,1755760335.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:15.675Z,1755760335.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:16.072Z,1755760336.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:16.494Z,1755760336.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:16.868Z,1755760336.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:17.395Z,1755760337.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:17.750Z,1755760337.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:18.190Z,1755760338.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:18.608Z,1755760338.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:18.962Z,1755760338.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:19.384Z,1755760339.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:19.796Z,1755760339.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:20.195Z,1755760340.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:20.596Z,1755760340.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:20.986Z,1755760340.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:21.414Z,1755760341.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:21.821Z,1755760341.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:22.204Z,1755760342.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:22.504Z,1755760342.504 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:12:22.625Z,1755760342.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:22.000Z,1755760343.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:23.450Z,1755760343.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:23.508Z,1755760343.508 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:12:23.813Z,1755760343.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:24.224Z,1755760344.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:24.614Z,1755760344.614 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS,  +22,
2025-08-21T07:12:24.662Z,1755760344.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:25.019Z,1755760345.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:25.479Z,1755760345.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:25.836Z,1755760345.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:26.245Z,1755760346.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:26.700Z,1755760346.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:27.049Z,1755760347.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:27.511Z,1755760347.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:27.873Z,1755760347.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:28.285Z,1755760348.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:28.715Z,1755760348.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:29.088Z,1755760349.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:29.522Z,1755760349.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:29.883Z,1755760349.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:30.354Z,1755760350.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:30.772Z,1755760350.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:31.113Z,1755760351.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:31.585Z,1755760351.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:31.901Z,1755760351.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:32.314Z,1755760352.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:32.760Z,1755760352.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:33.142Z,1755760353.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:33.587Z,1755760353.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:33.972Z,1755760353.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:34.375Z,1755760354.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:34.805Z,1755760354.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:35.179Z,1755760355.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:35.633Z,1755760355.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:35.982Z,1755760355.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:36.375Z,1755760356.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:36.836Z,1755760356.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:37.194Z,1755760357.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:37.657Z,1755760357.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:37.993Z,1755760357.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:38.396Z,1755760358.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:38.858Z,1755760358.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:39.325Z,1755760359.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:39.765Z,1755760359.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:40.217Z,1755760360.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:40.678Z,1755760360.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:41.041Z,1755760361.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:41.424Z,1755760361.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:41.878Z,1755760361.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:42.245Z,1755760362.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:42.698Z,1755760362.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:43.090Z,1755760363.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:43.450Z,1755760363.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:43.906Z,1755760363.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:44.273Z,1755760364.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:44.741Z,1755760364.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:45.114Z,1755760365.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:45.482Z,1755760365.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:45.912Z,1755760365.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:46.281Z,1755760366.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:46.759Z,1755760366.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:47.123Z,1755760367.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:47.511Z,1755760367.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:47.943Z,1755760367.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:48.311Z,1755760368.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:48.818Z,1755760368.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:49.133Z,1755760369.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:49.548Z,1755760369.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:49.969Z,1755760369.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:50.341Z,1755760370.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:50.811Z,1755760370.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:51.212Z,1755760371.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:51.552Z,1755760371.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:51.997Z,1755760371.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:52.372Z,1755760372.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:52.841Z,1755760372.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:53.220Z,1755760373.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:53.583Z,1755760373.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:53.628Z,1755760373.628 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:12:54.006Z,1755760374.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:54.400Z,1755760374.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:54.632Z,1755760374.632 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:12:54.876Z,1755760374.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:55.256Z,1755760375.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:55.606Z,1755760375.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:56.025Z,1755760376.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:12:56.027Z,1755760376.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:56.157Z,1755760376.157 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:12:56.158Z,1755760376.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:12:56.408Z,1755760376.408 [DAT](INFO): DAT read: user:2107>

2025-08-21T07:12:56.409Z,1755760376.409 [DAT](INFO): DAT read: Tx time:07:12:55.6187

2025-08-21T07:12:56.409Z,1755760376.409 [DAT](INFO): Ping request sent.
2025-08-21T07:12:56.409Z,1755760376.409 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:12:56.410Z,1755760376.410 [DAT](INFO): publishing transmit ping time
2025-08-21T07:12:56.410Z,1755760376.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-21T07:12:56.411Z,1755760376.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:56.662Z,1755760376.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252160
2025-08-21T07:12:56.855Z,1755760376.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:56.913Z,1755760376.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503140
2025-08-21T07:12:57.166Z,1755760377.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756189
2025-08-21T07:12:57.248Z,1755760377.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:57.416Z,1755760377.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006824
2025-08-21T07:12:57.620Z,1755760377.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:57.671Z,1755760377.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260838
2025-08-21T07:12:57.920Z,1755760377.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510741
2025-08-21T07:12:58.069Z,1755760378.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:58.173Z,1755760378.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763728
2025-08-21T07:12:58.424Z,1755760378.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014827
2025-08-21T07:12:58.434Z,1755760378.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:58.679Z,1755760378.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269010
2025-08-21T07:12:58.843Z,1755760378.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:58.928Z,1755760378.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518855
2025-08-21T07:12:59.182Z,1755760379.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771942
2025-08-21T07:12:59.271Z,1755760379.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:59.435Z,1755760379.435 [DAT](INFO): DAT read: Rx Time:07:12:58.3048

2025-08-21T07:12:59.436Z,1755760379.436 [DAT](INFO): Rx dataTimestamp_ set to:1755760379.435273
2025-08-21T07:12:59.436Z,1755760379.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026631
2025-08-21T07:12:59.657Z,1755760379.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:12:59.684Z,1755760379.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274860
2025-08-21T07:12:59.936Z,1755760379.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526728
2025-08-21T07:13:00.078Z,1755760380.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.52 m.
2025-08-21T07:13:00.199Z,1755760380.199 [DAT](INFO): DAT read: 07:12:58.3048 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 163, 0.25,-0.745, 0.643,-0.279,-0.772, PHS= 0.130, 1.460, 0.449, RAW= 316.7, -30.9, CAL= 315.4, -34.8, ROT= 194.6,  34.8

2025-08-21T07:13:00.201Z,1755760380.201 [DAT](INFO): got valid direction response:
 07:12:58.3048 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 163, 0.25,-0.745, 0.643,-0.279,-0.772, PHS= 0.130, 1.460, 0.449, RAW= 316.7, -30.9, CAL= 315.4, -34.8, ROT= 194.6,  34.8

2025-08-21T07:13:00.201Z,1755760380.201 [DAT](INFO): DAT read: Bearing 186.1, -14.0 (Local)

2025-08-21T07:13:00.202Z,1755760380.202 [DAT](INFO): Local bearing/azimuth received:
 Bearing 186.1, -14.0 (Local)

2025-08-21T07:13:00.204Z,1755760380.204 [DAT](INFO): DAT read: Range 11 to 50 : 211.5 m  (Round-trip  282.0 ms) speed -0.3 m/s

2025-08-21T07:13:00.205Z,1755760380.205 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:13:00.206Z,1755760380.206 [DAT](INFO): direction in FSK: [-0.794634,-0.206987,-0.570714]
2025-08-21T07:13:00.206Z,1755760380.206 [DAT](INFO): publishing direction and range info
2025-08-21T07:13:00.473Z,1755760380.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 211.500000 m,
      deltaT: 181.055825 s,
      deltaX: 179.800003 m,
      approachRate: 0.993064 m/s,
      rangeRepo size: 4

2025-08-21T07:13:00.475Z,1755760380.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 210.320023 m,
      bearing: 15.647286 deg,
      lat: 36.779386 deg,
      lon: -121.859403 deg,
      deltaT: 181.055825 s,
      deltaX: 178.795654 m,
      approachRate: 0.987517 m/s,
      posRepo size: 4

2025-08-21T07:13:00.478Z,1755760380.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.32 m.
2025-08-21T07:13:00.479Z,1755760380.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 211.50 m. Resuming terminal guidance.
2025-08-21T07:13:00.479Z,1755760380.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-21T07:13:00.855Z,1755760380.855 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-21T07:13:00.855Z,1755760380.855 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-21T07:13:00.856Z,1755760380.856 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-21T07:13:00.857Z,1755760380.857 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 211.500000 m (mode  1.000000 count ).
2025-08-21T07:13:00.857Z,1755760380.857 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-21T07:13:00.857Z,1755760380.857 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-21T07:13:01.282Z,1755760381.282 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-21T07:13:01.282Z,1755760381.282 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-21T07:13:01.283Z,1755760381.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:01.448Z,1755760381.448 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:13:01.448Z,1755760381.448 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:13:01.448Z,1755760381.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:01.701Z,1755760381.701 [DAT](INFO): DAT read: user:2108>

2025-08-21T07:13:01.701Z,1755760381.701 [DAT](INFO): DAT read: Tx time:07:13:00.9202

2025-08-21T07:13:01.702Z,1755760381.702 [DAT](INFO): Ping request sent.
2025-08-21T07:13:01.702Z,1755760381.702 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:13:01.702Z,1755760381.702 [DAT](INFO): publishing transmit ping time
2025-08-21T07:13:01.703Z,1755760381.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736
2025-08-21T07:13:01.789Z,1755760381.789 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-21T07:13:01.789Z,1755760381.789 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-21T07:13:01.955Z,1755760381.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252770
2025-08-21T07:13:02.204Z,1755760382.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502516
2025-08-21T07:13:02.206Z,1755760382.206 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-21T07:13:02.206Z,1755760382.206 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-21T07:13:02.206Z,1755760382.206 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-21T07:13:02.206Z,1755760382.206 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-21T07:13:02.457Z,1755760382.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755348
2025-08-21T07:13:02.708Z,1755760382.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006460
2025-08-21T07:13:02.963Z,1755760382.963 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260798
2025-08-21T07:13:03.212Z,1755760383.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510534
2025-08-21T07:13:03.396Z,1755760383.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:03.465Z,1755760383.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763374
2025-08-21T07:13:03.716Z,1755760383.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014423
2025-08-21T07:13:03.971Z,1755760383.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268771
2025-08-21T07:13:04.220Z,1755760384.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518388
2025-08-21T07:13:04.472Z,1755760384.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770416
2025-08-21T07:13:04.725Z,1755760384.725 [DAT](INFO): DAT read: Rx Time:07:13:03.6100

2025-08-21T07:13:04.726Z,1755760384.726 [DAT](INFO): Rx dataTimestamp_ set to:1755760384.725258
2025-08-21T07:13:04.726Z,1755760384.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024313
2025-08-21T07:13:04.979Z,1755760384.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276488
2025-08-21T07:13:05.228Z,1755760385.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526615
2025-08-21T07:13:05.426Z,1755760385.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:05.496Z,1755760385.496 [DAT](INFO): DAT read: 07:13:03.6100 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 464,-0.01,-2.412,-1.015,-1.812,-2.549, PHS= 0.239, 1.580, 0.693, RAW= 310.6, -36.9, CAL= 307.6, -40.6, ROT= 202.4,  40.6

2025-08-21T07:13:05.497Z,1755760385.497 [DAT](INFO): got valid direction response:
 07:13:03.6100 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 464,-0.01,-2.412,-1.015,-1.812,-2.549, PHS= 0.239, 1.580, 0.693, RAW= 310.6, -36.9, CAL= 307.6, -40.6, ROT= 202.4,  40.6

2025-08-21T07:13:05.498Z,1755760385.498 [DAT](INFO): DAT read: Bearing 191.8, -16.6 (Local)

2025-08-21T07:13:05.498Z,1755760385.498 [DAT](INFO): Local bearing/azimuth received:
 Bearing 191.8, -16.6 (Local)

2025-08-21T07:13:05.504Z,1755760385.504 [DAT](INFO): DAT read: Range 11 to 50 : 214.2 m  (Round-trip  285.7 ms) speed -0.8 m/s

2025-08-21T07:13:05.505Z,1755760385.505 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:13:05.506Z,1755760385.506 [DAT](INFO): direction in FSK: [-0.701981,-0.289336,-0.650774]
2025-08-21T07:13:05.506Z,1755760385.506 [DAT](INFO): publishing direction and range info
2025-08-21T07:13:05.532Z,1755760385.532 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:13:05.533Z,1755760385.533 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:13:05.533Z,1755760385.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:05.732Z,1755760385.732 [DAT](INFO): DAT read: user:2109>

2025-08-21T07:13:05.733Z,1755760385.733 [DAT](INFO): DAT read: Tx time:07:13:05.0186

2025-08-21T07:13:05.733Z,1755760385.733 [DAT](INFO): Ping request sent.
2025-08-21T07:13:05.733Z,1755760385.733 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:13:05.733Z,1755760385.733 [DAT](INFO): publishing transmit ping time
2025-08-21T07:13:05.734Z,1755760385.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-21T07:13:05.828Z,1755760385.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 214.199997 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-21T07:13:05.831Z,1755760385.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 213.003265 m,
      bearing: 23.057466 deg,
      lat: 36.779385 deg,
      lon: -121.859402 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-21T07:13:05.831Z,1755760385.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m.
2025-08-21T07:13:05.834Z,1755760385.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 213.003265 m,
      nav range: 168.359329 m,
      bearing: 10.741094 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.000000 deg/s,
      cmd heading: 3.157495 deg,
      new cmd heading: 10.741094 deg.

2025-08-21T07:13:05.834Z,1755760385.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.187467 target range: 213.003265 and range: 214.20 m.
2025-08-21T07:13:05.989Z,1755760385.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254922
2025-08-21T07:13:06.236Z,1755760386.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503048
2025-08-21T07:13:06.246Z,1755760386.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m.
2025-08-21T07:13:06.253Z,1755760386.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 213.003265 m,
      nav range: 168.658051 m,
      bearing: 10.735711 deg,
      approach rate: 0.712667 m/s,
      LOS rate: -0.012820 deg/s,
      cmd heading: 10.741094 deg,
      new cmd heading: 10.735711 deg.

2025-08-21T07:13:06.254Z,1755760386.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.187374 target range: 213.003265 and range: 214.20 m.
2025-08-21T07:13:06.488Z,1755760386.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754879
2025-08-21T07:13:06.614Z,1755760386.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m.
2025-08-21T07:13:06.616Z,1755760386.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 213.003265 m,
      nav range: 168.944931 m,
      bearing: 10.728887 deg,
      approach rate: 0.780984 m/s,
      LOS rate: -0.018545 deg/s,
      cmd heading: 10.735711 deg,
      new cmd heading: 10.728887 deg.

2025-08-21T07:13:06.617Z,1755760386.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.187254 target range: 213.003265 and range: 214.20 m.
2025-08-21T07:13:06.740Z,1755760386.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007035
2025-08-21T07:13:06.995Z,1755760386.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261142
2025-08-21T07:13:07.110Z,1755760387.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m.
2025-08-21T07:13:07.113Z,1755760387.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 213.003265 m,
      nav range: 169.294556 m,
      bearing: 10.718190 deg,
      approach rate: 0.704220 m/s,
      LOS rate: -0.021501 deg/s,
      cmd heading: 10.728888 deg,
      new cmd heading: 10.718190 deg.

2025-08-21T07:13:07.114Z,1755760387.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.187068 target range: 213.003265 and range: 214.20 m.
2025-08-21T07:13:07.244Z,1755760387.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510943
2025-08-21T07:13:07.455Z,1755760387.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:07.457Z,1755760387.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m.
2025-08-21T07:13:07.460Z,1755760387.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 213.003265 m,
      nav range: 169.538544 m,
      bearing: 10.709283 deg,
      approach rate: 0.702522 m/s,
      LOS rate: -0.025610 deg/s,
      cmd heading: 10.718191 deg,
      new cmd heading: 10.709283 deg.

2025-08-21T07:13:07.461Z,1755760387.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.186912 target range: 213.003265 and range: 214.20 m.
2025-08-21T07:13:07.497Z,1755760387.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763458
2025-08-21T07:13:07.748Z,1755760387.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014979
2025-08-21T07:13:07.858Z,1755760387.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m.
2025-08-21T07:13:07.860Z,1755760387.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 213.003265 m,
      nav range: 169.819595 m,
      bearing: 10.697353 deg,
      approach rate: 0.702331 m/s,
      LOS rate: -0.029763 deg/s,
      cmd heading: 10.709283 deg,
      new cmd heading: 10.697353 deg.

2025-08-21T07:13:07.861Z,1755760387.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.186704 target range: 213.003265 and range: 214.20 m.
2025-08-21T07:13:08.003Z,1755760388.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269414
2025-08-21T07:13:08.252Z,1755760388.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518993
2025-08-21T07:13:08.307Z,1755760388.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m.
2025-08-21T07:13:08.310Z,1755760388.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 213.003265 m,
      nav range: 170.118408 m,
      bearing: 10.682364 deg,
      approach rate: 0.670759 m/s,
      LOS rate: -0.033588 deg/s,
      cmd heading: 10.697353 deg,
      new cmd heading: 10.682364 deg.

2025-08-21T07:13:08.310Z,1755760388.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.186442 target range: 213.003265 and range: 214.20 m.
2025-08-21T07:13:08.504Z,1755760388.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770960
2025-08-21T07:13:08.703Z,1755760388.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m.
2025-08-21T07:13:08.706Z,1755760388.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 213.003265 m,
      nav range: 170.400299 m,
      bearing: 10.668271 deg,
      approach rate: 0.704784 m/s,
      LOS rate: -0.035176 deg/s,
      cmd heading: 10.682364 deg,
      new cmd heading: 10.668271 deg.

2025-08-21T07:13:08.706Z,1755760388.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.186196 target range: 213.003265 and range: 214.20 m.
2025-08-21T07:13:08.757Z,1755760388.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024031
2025-08-21T07:13:09.010Z,1755760389.010 [DAT](INFO): DAT read: Rx Time:07:13:07.7121

2025-08-21T07:13:09.012Z,1755760389.012 [DAT](INFO): Rx dataTimestamp_ set to:1755760389.010660
2025-08-21T07:13:09.014Z,1755760389.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279852
2025-08-21T07:13:09.181Z,1755760389.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.00 m.
2025-08-21T07:13:09.199Z,1755760389.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 213.003265 m,
      nav range: 170.717438 m,
      bearing: 10.648465 deg,
      approach rate: 0.663799 m/s,
      LOS rate: -0.041378 deg/s,
      cmd heading: 10.668271 deg,
      new cmd heading: 10.648465 deg.

2025-08-21T07:13:09.200Z,1755760389.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.185851 target range: 213.003265 and range: 214.20 m.
2025-08-21T07:13:09.260Z,1755760389.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527081
2025-08-21T07:13:09.517Z,1755760389.517 [DAT](INFO): DAT read: 07:13:07.7121 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 462,-0.15, 1.638, 2.893, 2.242, 1.555, PHS= 0.185, 1.383, 0.643, RAW= 307.8, -36.8, CAL= 304.7, -40.4, ROT= 205.3,  40.4

2025-08-21T07:13:09.519Z,1755760389.519 [DAT](INFO): got valid direction response:
 07:13:07.7121 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 462,-0.15, 1.638, 2.893, 2.242, 1.555, PHS= 0.185, 1.383, 0.643, RAW= 307.8, -36.8, CAL= 304.7, -40.4, ROT= 205.3,  40.4

2025-08-21T07:13:09.520Z,1755760389.520 [DAT](INFO): DAT read: Bearing 183.1, -15.5 (Local)

2025-08-21T07:13:09.520Z,1755760389.520 [DAT](INFO): Local bearing/azimuth received:
 Bearing 183.1, -15.5 (Local)

2025-08-21T07:13:09.521Z,1755760389.521 [DAT](INFO): DAT read: Range 11 to 50 : 216.9 m  (Round-trip  289.3 ms) speed -0.4 m/s

2025-08-21T07:13:09.522Z,1755760389.522 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:13:09.523Z,1755760389.523 [DAT](INFO): direction in FSK: [-0.688493,-0.325449,-0.648120]
2025-08-21T07:13:09.523Z,1755760389.523 [DAT](INFO): publishing direction and range info
2025-08-21T07:13:09.527Z,1755760389.527 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:13:09.527Z,1755760389.527 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:13:09.527Z,1755760389.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:09.645Z,1755760389.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 216.899994 m,
      deltaT: 4.029342 s,
      deltaX: 2.699997 m,
      approachRate: 0.670084 m/s,
      rangeRepo size: 2

2025-08-21T07:13:09.652Z,1755760389.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 215.686371 m,
      bearing: 17.503589 deg,
      lat: 36.779374 deg,
      lon: -121.859227 deg,
      deltaT: 4.029342 s,
      deltaX: 2.683105 m,
      approachRate: 0.665892 m/s,
      posRepo size: 2

2025-08-21T07:13:09.654Z,1755760389.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:09.661Z,1755760389.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 173.426102 m,
      bearing: 15.772097 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041378 deg/s,
      cmd heading: 10.648466 deg,
      new cmd heading: 10.591622 deg.

2025-08-21T07:13:09.662Z,1755760389.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.184859 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:09.764Z,1755760389.764 [DAT](INFO): DAT read: user:2110>

2025-08-21T07:13:09.765Z,1755760389.765 [DAT](INFO): DAT read: Tx time:07:13:09.0186

2025-08-21T07:13:09.766Z,1755760389.766 [DAT](INFO): Ping request sent.
2025-08-21T07:13:09.766Z,1755760389.766 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:13:09.766Z,1755760389.766 [DAT](INFO): publishing transmit ping time
2025-08-21T07:13:09.767Z,1755760389.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001505
2025-08-21T07:13:09.989Z,1755760389.989 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:09.991Z,1755760389.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:10.019Z,1755760390.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253040
2025-08-21T07:13:10.033Z,1755760390.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 173.671509 m,
      bearing: 15.746176 deg,
      approach rate: 0.696649 m/s,
      LOS rate: -0.073477 deg/s,
      cmd heading: 10.591622 deg,
      new cmd heading: 10.513971 deg.

2025-08-21T07:13:10.039Z,1755760390.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183503 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:10.268Z,1755760390.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502598
2025-08-21T07:13:10.450Z,1755760390.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:10.453Z,1755760390.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 173.952637 m,
      bearing: 15.717553 deg,
      approach rate: 0.612905 m/s,
      LOS rate: -0.062303 deg/s,
      cmd heading: 10.513971 deg,
      new cmd heading: 10.428240 deg.

2025-08-21T07:13:10.453Z,1755760390.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.182007 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:10.520Z,1755760390.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754785
2025-08-21T07:13:10.772Z,1755760390.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006798
2025-08-21T07:13:10.823Z,1755760390.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:10.830Z,1755760390.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 174.186371 m,
      bearing: 15.690645 deg,
      approach rate: 0.626285 m/s,
      LOS rate: -0.072004 deg/s,
      cmd heading: 10.428241 deg,
      new cmd heading: 10.347623 deg.

2025-08-21T07:13:10.831Z,1755760390.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.180600 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:11.028Z,1755760391.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262407
2025-08-21T07:13:11.234Z,1755760391.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:11.237Z,1755760391.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 174.455307 m,
      bearing: 15.658620 deg,
      approach rate: 0.653942 m/s,
      LOS rate: -0.077751 deg/s,
      cmd heading: 10.347624 deg,
      new cmd heading: 10.251698 deg.

2025-08-21T07:13:11.238Z,1755760391.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178926 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:11.277Z,1755760391.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511603
2025-08-21T07:13:11.528Z,1755760391.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762655
2025-08-21T07:13:11.627Z,1755760391.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:11.632Z,1755760391.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 174.692978 m,
      bearing: 15.628700 deg,
      approach rate: 0.606717 m/s,
      LOS rate: -0.076274 deg/s,
      cmd heading: 10.251698 deg,
      new cmd heading: 10.162061 deg.

2025-08-21T07:13:11.633Z,1755760391.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.177361 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:11.780Z,1755760391.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014738
2025-08-21T07:13:12.032Z,1755760392.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266713
2025-08-21T07:13:12.137Z,1755760392.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:12.146Z,1755760392.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:12.154Z,1755760392.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 174.998627 m,
      bearing: 15.588091 deg,
      approach rate: 0.588521 m/s,
      LOS rate: -0.078056 deg/s,
      cmd heading: 10.162061 deg,
      new cmd heading: 10.040446 deg.

2025-08-21T07:13:12.160Z,1755760392.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.175239 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:12.284Z,1755760392.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518708
2025-08-21T07:13:12.533Z,1755760392.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:12.536Z,1755760392.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770770
2025-08-21T07:13:12.537Z,1755760392.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 175.243637 m,
      bearing: 15.558399 deg,
      approach rate: 0.632029 m/s,
      LOS rate: -0.076485 deg/s,
      cmd heading: 10.040446 deg,
      new cmd heading: 9.951496 deg.

2025-08-21T07:13:12.538Z,1755760392.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.173686 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:12.789Z,1755760392.789 [DAT](INFO): DAT read: Rx Time:07:13:11.6542

2025-08-21T07:13:12.790Z,1755760392.790 [DAT](INFO): Rx dataTimestamp_ set to:1755760392.789410
2025-08-21T07:13:12.791Z,1755760392.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025044
2025-08-21T07:13:12.903Z,1755760392.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:12.906Z,1755760392.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 175.462662 m,
      bearing: 15.530332 deg,
      approach rate: 0.591755 m/s,
      LOS rate: -0.075738 deg/s,
      cmd heading: 9.951496 deg,
      new cmd heading: 9.867398 deg.

2025-08-21T07:13:12.907Z,1755760392.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.172219 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:13.041Z,1755760393.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275240
2025-08-21T07:13:13.292Z,1755760393.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526585
2025-08-21T07:13:13.385Z,1755760393.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:13.388Z,1755760393.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 175.734146 m,
      bearing: 15.496723 deg,
      approach rate: 0.563097 m/s,
      LOS rate: -0.069602 deg/s,
      cmd heading: 9.867398 deg,
      new cmd heading: 9.766727 deg.

2025-08-21T07:13:13.389Z,1755760393.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.170462 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:13.550Z,1755760393.550 [DAT](INFO): DAT read: 07:13:11.6542 LVL= 32752, 32465, 32754, 32755, AGC= 69, IDX= 351,-0.27, 2.728,-1.415,-2.514,-2.345, PHS=-1.109, 0.975,-0.213, RAW= 304.6,   3.9, CAL= 302.2,   0.5, ROT= 207.8,  -0.5

2025-08-21T07:13:13.551Z,1755760393.551 [DAT](INFO): got valid direction response:
 07:13:11.6542 LVL= 32752, 32465, 32754, 32755, AGC= 69, IDX= 351,-0.27, 2.728,-1.415,-2.514,-2.345, PHS=-1.109, 0.975,-0.213, RAW= 304.6,   3.9, CAL= 302.2,   0.5, ROT= 207.8,  -0.5

2025-08-21T07:13:13.552Z,1755760393.552 [DAT](INFO): DAT read: Bearing 128.9, -27.2 (Local)

2025-08-21T07:13:13.552Z,1755760393.552 [DAT](INFO): Local bearing/azimuth received:
 Bearing 128.9, -27.2 (Local)

2025-08-21T07:13:13.554Z,1755760393.554 [DAT](INFO): DAT read: Range 11 to 50 : 173.6 m  (Round-trip  231.5 ms) speed -0.4 m/s

2025-08-21T07:13:13.554Z,1755760393.554 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:13:13.556Z,1755760393.556 [DAT](INFO): direction in FSK: [-0.884547,-0.466369,0.008727]
2025-08-21T07:13:13.556Z,1755760393.556 [DAT](INFO): publishing direction and range info
2025-08-21T07:13:13.559Z,1755760393.559 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:13:13.559Z,1755760393.559 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:13:13.559Z,1755760393.559 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:13.730Z,1755760393.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 173.600006 m,
 deltaT: 4.032229 s,
 deltaX: -43.299988 m,
 approachRate: -10.738475 m/s,
 rangeRepo size: 2
2025-08-21T07:13:13.730Z,1755760393.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:13.745Z,1755760393.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 175.916458 m,
      bearing: 15.471585 deg,
      approach rate: 0.529886 m/s,
      LOS rate: -0.072985 deg/s,
      cmd heading: 9.766727 deg,
      new cmd heading: 9.691393 deg.

2025-08-21T07:13:13.746Z,1755760393.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.169147 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:13.797Z,1755760393.797 [DAT](INFO): DAT read: user:2111>

2025-08-21T07:13:13.798Z,1755760393.798 [DAT](INFO): DAT read: Tx time:07:13:13.0186

2025-08-21T07:13:13.799Z,1755760393.799 [DAT](INFO): Ping request sent.
2025-08-21T07:13:13.799Z,1755760393.799 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:13:13.799Z,1755760393.799 [DAT](INFO): publishing transmit ping time
2025-08-21T07:13:13.800Z,1755760393.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001194
2025-08-21T07:13:14.048Z,1755760394.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249373
2025-08-21T07:13:14.201Z,1755760394.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:14.203Z,1755760394.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:14.205Z,1755760394.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 176.184692 m,
      bearing: 15.432882 deg,
      approach rate: 0.566695 m/s,
      LOS rate: -0.081643 deg/s,
      cmd heading: 9.691393 deg,
      new cmd heading: 9.575461 deg.

2025-08-21T07:13:14.206Z,1755760394.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167123 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:14.300Z,1755760394.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501583
2025-08-21T07:13:14.552Z,1755760394.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753371
2025-08-21T07:13:14.561Z,1755760394.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:14.568Z,1755760394.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 176.371780 m,
      bearing: 15.404601 deg,
      approach rate: 0.521535 m/s,
      LOS rate: -0.078755 deg/s,
      cmd heading: 9.575461 deg,
      new cmd heading: 9.490706 deg.

2025-08-21T07:13:14.569Z,1755760394.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.165644 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:14.804Z,1755760394.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005361
2025-08-21T07:13:14.959Z,1755760394.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:14.962Z,1755760394.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 176.595200 m,
      bearing: 15.369225 deg,
      approach rate: 0.561876 m/s,
      LOS rate: -0.088854 deg/s,
      cmd heading: 9.490706 deg,
      new cmd heading: 9.384713 deg.

2025-08-21T07:13:14.963Z,1755760394.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.163794 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:15.056Z,1755760395.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257579
2025-08-21T07:13:15.308Z,1755760395.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509376
2025-08-21T07:13:15.383Z,1755760395.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:15.386Z,1755760395.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 176.821701 m,
      bearing: 15.331056 deg,
      approach rate: 0.533991 m/s,
      LOS rate: -0.089869 deg/s,
      cmd heading: 9.384712 deg,
      new cmd heading: 9.270354 deg.

2025-08-21T07:13:15.387Z,1755760395.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.161798 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:15.560Z,1755760395.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761364
2025-08-21T07:13:15.764Z,1755760395.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:15.767Z,1755760395.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 177.023376 m,
      bearing: 15.295570 deg,
      approach rate: 0.528879 m/s,
      LOS rate: -0.092954 deg/s,
      cmd heading: 9.270355 deg,
      new cmd heading: 9.164017 deg.

2025-08-21T07:13:15.768Z,1755760395.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.159942 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:15.812Z,1755760395.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013531
2025-08-21T07:13:16.064Z,1755760396.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265538
2025-08-21T07:13:16.231Z,1755760396.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:16.237Z,1755760396.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:16.244Z,1755760396.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 177.256393 m,
      bearing: 15.253399 deg,
      approach rate: 0.493270 m/s,
      LOS rate: -0.089155 deg/s,
      cmd heading: 9.164017 deg,
      new cmd heading: 9.037669 deg.

2025-08-21T07:13:16.245Z,1755760396.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157737 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:16.317Z,1755760396.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518184
2025-08-21T07:13:16.568Z,1755760396.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769567
2025-08-21T07:13:16.590Z,1755760396.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:16.593Z,1755760396.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 177.447250 m,
      bearing: 15.217508 deg,
      approach rate: 0.540230 m/s,
      LOS rate: -0.101483 deg/s,
      cmd heading: 9.037670 deg,
      new cmd heading: 8.930112 deg.

2025-08-21T07:13:16.594Z,1755760396.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.155860 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:16.821Z,1755760396.821 [DAT](INFO): DAT read: Rx Time:07:13:15.6572

2025-08-21T07:13:16.822Z,1755760396.822 [DAT](INFO): Rx dataTimestamp_ set to:1755760396.821241
2025-08-21T07:13:16.822Z,1755760396.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023271
2025-08-21T07:13:17.000Z,1755760397.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:17.003Z,1755760397.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 177.654480 m,
      bearing: 15.177004 deg,
      approach rate: 0.505146 m/s,
      LOS rate: -0.098617 deg/s,
      cmd heading: 8.930112 deg,
      new cmd heading: 8.808744 deg.

2025-08-21T07:13:17.004Z,1755760397.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.153742 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:17.073Z,1755760397.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274263
2025-08-21T07:13:17.329Z,1755760397.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529556
2025-08-21T07:13:17.434Z,1755760397.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:17.436Z,1755760397.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 177.873016 m,
      bearing: 15.132698 deg,
      approach rate: 0.504507 m/s,
      LOS rate: -0.102158 deg/s,
      cmd heading: 8.808744 deg,
      new cmd heading: 8.675989 deg.

2025-08-21T07:13:17.437Z,1755760397.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.151425 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:17.581Z,1755760397.581 [DAT](INFO): DAT read: 07:13:15.6572 LVL= 32752, 30033, 32754, 32755, AGC= 65, IDX= 477,-0.24,-0.651, 1.403, 0.595, 0.615, PHS=-1.164, 0.832,-0.065, RAW= 296.6,   4.6, CAL= 294.5,   0.7, ROT= 215.5,  -0.7

2025-08-21T07:13:17.583Z,1755760397.583 [DAT](INFO): got valid direction response:
 07:13:15.6572 LVL= 32752, 30033, 32754, 32755, AGC= 65, IDX= 477,-0.24,-0.651, 1.403, 0.595, 0.615, PHS=-1.164, 0.832,-0.065, RAW= 296.6,   4.6, CAL= 294.5,   0.7, ROT= 215.5,  -0.7

2025-08-21T07:13:17.583Z,1755760397.583 [DAT](INFO): DAT read: Bearing 118.2, -33.6 (Local)

2025-08-21T07:13:17.584Z,1755760397.584 [DAT](INFO): Local bearing/azimuth received:
 Bearing 118.2, -33.6 (Local)

2025-08-21T07:13:17.585Z,1755760397.585 [DAT](INFO): DAT read: Range 11 to 50 : 175.8 m  (Round-trip  234.4 ms) speed -0.8 m/s

2025-08-21T07:13:17.586Z,1755760397.586 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:13:17.587Z,1755760397.587 [DAT](INFO): direction in FSK: [-0.814055,-0.580660,0.012217]
2025-08-21T07:13:17.587Z,1755760397.587 [DAT](INFO): publishing direction and range info
2025-08-21T07:13:17.590Z,1755760397.590 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:13:17.590Z,1755760397.590 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:13:17.591Z,1755760397.591 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:17.814Z,1755760397.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 175.800003 m,
 deltaT: 8.063934 s,
 deltaX: -41.099991 m,
 approachRate: -5.096767 m/s,
 rangeRepo size: 2
2025-08-21T07:13:17.814Z,1755760397.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:17.817Z,1755760397.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 178.060501 m,
      bearing: 15.093284 deg,
      approach rate: 0.493724 m/s,
      LOS rate: -0.103683 deg/s,
      cmd heading: 8.675989 deg,
      new cmd heading: 8.557873 deg.

2025-08-21T07:13:17.818Z,1755760397.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.149363 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:17.828Z,1755760397.828 [DAT](INFO): DAT read: user:2112>

2025-08-21T07:13:17.829Z,1755760397.829 [DAT](INFO): DAT read: Tx time:07:13:17.0686

2025-08-21T07:13:17.829Z,1755760397.829 [DAT](INFO): Ping request sent.
2025-08-21T07:13:17.829Z,1755760397.829 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:13:17.830Z,1755760397.830 [DAT](INFO): publishing transmit ping time
2025-08-21T07:13:17.830Z,1755760397.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-21T07:13:18.081Z,1755760398.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251141
2025-08-21T07:13:18.249Z,1755760398.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:18.251Z,1755760398.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:18.254Z,1755760398.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 178.271851 m,
      bearing: 15.047262 deg,
      approach rate: 0.482674 m/s,
      LOS rate: -0.104980 deg/s,
      cmd heading: 8.557873 deg,
      new cmd heading: 8.419969 deg.

2025-08-21T07:13:18.255Z,1755760398.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146956 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:18.333Z,1755760398.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503754
2025-08-21T07:13:18.584Z,1755760398.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754694
2025-08-21T07:13:18.652Z,1755760398.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:18.654Z,1755760398.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 178.453400 m,
      bearing: 15.006264 deg,
      approach rate: 0.452981 m/s,
      LOS rate: -0.102189 deg/s,
      cmd heading: 8.419969 deg,
      new cmd heading: 8.297102 deg.

2025-08-21T07:13:18.660Z,1755760398.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.144812 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:18.836Z,1755760398.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006801
2025-08-21T07:13:19.029Z,1755760399.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:19.031Z,1755760399.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 178.639847 m,
      bearing: 14.964271 deg,
      approach rate: 0.494967 m/s,
      LOS rate: -0.111364 deg/s,
      cmd heading: 8.297101 deg,
      new cmd heading: 8.171253 deg.

2025-08-21T07:13:19.032Z,1755760399.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.142615 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:19.091Z,1755760399.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261172
2025-08-21T07:13:19.340Z,1755760399.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510884
2025-08-21T07:13:19.444Z,1755760399.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:19.480Z,1755760399.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 178.824387 m,
      bearing: 14.918939 deg,
      approach rate: 0.447941 m/s,
      LOS rate: -0.109923 deg/s,
      cmd heading: 8.171253 deg,
      new cmd heading: 8.035398 deg.

2025-08-21T07:13:19.481Z,1755760399.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.140244 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:19.593Z,1755760399.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763829
2025-08-21T07:13:19.818Z,1755760399.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:19.821Z,1755760399.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 178.994339 m,
      bearing: 14.875655 deg,
      approach rate: 0.450240 m/s,
      LOS rate: -0.114559 deg/s,
      cmd heading: 8.035398 deg,
      new cmd heading: 7.905670 deg.

2025-08-21T07:13:19.822Z,1755760399.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.137980 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:19.844Z,1755760399.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014917
2025-08-21T07:13:20.097Z,1755760400.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267317
2025-08-21T07:13:20.271Z,1755760400.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:20.273Z,1755760400.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:20.276Z,1755760400.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 179.186615 m,
      bearing: 14.824643 deg,
      approach rate: 0.422368 m/s,
      LOS rate: -0.111937 deg/s,
      cmd heading: 7.905671 deg,
      new cmd heading: 7.752799 deg.

2025-08-21T07:13:20.277Z,1755760400.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.135312 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:20.349Z,1755760400.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519790
2025-08-21T07:13:20.602Z,1755760400.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772182
2025-08-21T07:13:20.650Z,1755760400.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:20.653Z,1755760400.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 179.342422 m,
      bearing: 14.781834 deg,
      approach rate: 0.416517 m/s,
      LOS rate: -0.114341 deg/s,
      cmd heading: 7.752799 deg,
      new cmd heading: 7.624484 deg.

2025-08-21T07:13:20.654Z,1755760400.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.133072 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:20.852Z,1755760400.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022712
2025-08-21T07:13:21.028Z,1755760401.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:21.031Z,1755760401.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 179.498413 m,
      bearing: 14.737505 deg,
      approach rate: 0.409315 m/s,
      LOS rate: -0.116217 deg/s,
      cmd heading: 7.624484 deg,
      new cmd heading: 7.491612 deg.

2025-08-21T07:13:21.032Z,1755760401.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.130753 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:21.106Z,1755760401.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275876
2025-08-21T07:13:21.356Z,1755760401.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526834
2025-08-21T07:13:21.464Z,1755760401.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:21.466Z,1755760401.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 179.670532 m,
      bearing: 14.686892 deg,
      approach rate: 0.395226 m/s,
      LOS rate: -0.116109 deg/s,
      cmd heading: 7.491612 deg,
      new cmd heading: 7.339918 deg.

2025-08-21T07:13:21.468Z,1755760401.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128106 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:21.609Z,1755760401.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779868
2025-08-21T07:13:21.838Z,1755760401.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:21.840Z,1755760401.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 179.815811 m,
      bearing: 14.642703 deg,
      approach rate: 0.388828 m/s,
      LOS rate: -0.118173 deg/s,
      cmd heading: 7.339918 deg,
      new cmd heading: 7.207458 deg.

2025-08-21T07:13:21.841Z,1755760401.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125794 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:21.861Z,1755760401.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031187
2025-08-21T07:13:22.114Z,1755760402.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285010
2025-08-21T07:13:22.321Z,1755760402.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:22.323Z,1755760402.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:22.329Z,1755760402.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 179.981567 m,
      bearing: 14.589143 deg,
      approach rate: 0.341625 m/s,
      LOS rate: -0.110285 deg/s,
      cmd heading: 7.207457 deg,
      new cmd heading: 7.046928 deg.

2025-08-21T07:13:22.330Z,1755760402.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.122992 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:22.364Z,1755760402.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535000
2025-08-21T07:13:22.618Z,1755760402.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787884
2025-08-21T07:13:22.685Z,1755760402.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:22.688Z,1755760402.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 180.116058 m,
      bearing: 14.544164 deg,
      approach rate: 0.371472 m/s,
      LOS rate: -0.124143 deg/s,
      cmd heading: 7.046928 deg,
      new cmd heading: 6.912091 deg.

2025-08-21T07:13:22.688Z,1755760402.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120639 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:22.869Z,1755760402.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040021
2025-08-21T07:13:23.122Z,1755760403.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291945
2025-08-21T07:13:23.200Z,1755760403.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:23.208Z,1755760403.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 180.281906 m,
      bearing: 14.484823 deg,
      approach rate: 0.321877 m/s,
      LOS rate: -0.115064 deg/s,
      cmd heading: 6.912091 deg,
      new cmd heading: 6.734231 deg.

2025-08-21T07:13:23.209Z,1755760403.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.117535 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:23.372Z,1755760403.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542738
2025-08-21T07:13:23.624Z,1755760403.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795002
2025-08-21T07:13:23.764Z,1755760403.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:23.767Z,1755760403.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 180.478546 m,
      bearing: 14.410000 deg,
      approach rate: 0.348423 m/s,
      LOS rate: -0.132432 deg/s,
      cmd heading: 6.734231 deg,
      new cmd heading: 6.510010 deg.

2025-08-21T07:13:23.768Z,1755760403.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113621 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:23.876Z,1755760403.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046745
2025-08-21T07:13:24.129Z,1755760404.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299110
2025-08-21T07:13:24.172Z,1755760404.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:24.184Z,1755760404.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 180.604797 m,
      bearing: 14.360302 deg,
      approach rate: 0.310285 m/s,
      LOS rate: -0.122058 deg/s,
      cmd heading: 6.510010 deg,
      new cmd heading: 6.361018 deg.

2025-08-21T07:13:24.185Z,1755760404.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111021 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:24.380Z,1755760404.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550774
2025-08-21T07:13:24.558Z,1755760404.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:24.561Z,1755760404.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:24.579Z,1755760404.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 180.732498 m,
      bearing: 14.307453 deg,
      approach rate: 0.328028 m/s,
      LOS rate: -0.135657 deg/s,
      cmd heading: 6.361018 deg,
      new cmd heading: 6.202585 deg.

2025-08-21T07:13:24.580Z,1755760404.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108256 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:24.635Z,1755760404.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805288
2025-08-21T07:13:24.752Z,1755760404.752 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:13:24.884Z,1755760404.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054801
2025-08-21T07:13:24.955Z,1755760404.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:24.958Z,1755760404.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 180.852829 m,
      bearing: 14.255960 deg,
      approach rate: 0.304933 m/s,
      LOS rate: -0.130404 deg/s,
      cmd heading: 6.202585 deg,
      new cmd heading: 6.048208 deg.

2025-08-21T07:13:24.959Z,1755760404.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105561 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:25.136Z,1755760405.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306785
2025-08-21T07:13:25.369Z,1755760405.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:25.388Z,1755760405.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558677
2025-08-21T07:13:25.390Z,1755760405.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 180.975006 m,
      bearing: 14.199980 deg,
      approach rate: 0.294940 m/s,
      LOS rate: -0.135046 deg/s,
      cmd heading: 6.048208 deg,
      new cmd heading: 5.880382 deg.

2025-08-21T07:13:25.391Z,1755760405.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102632 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:25.644Z,1755760405.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814652
2025-08-21T07:13:25.756Z,1755760405.756 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:13:25.761Z,1755760405.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:25.764Z,1755760405.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 181.087418 m,
      bearing: 14.146618 deg,
      approach rate: 0.287296 m/s,
      LOS rate: -0.136295 deg/s,
      cmd heading: 5.880382 deg,
      new cmd heading: 5.720396 deg.

2025-08-21T07:13:25.765Z,1755760405.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.099840 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:25.892Z,1755760405.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062833
2025-08-21T07:13:26.145Z,1755760406.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.315541
2025-08-21T07:13:26.214Z,1755760406.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:26.239Z,1755760406.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 181.212982 m,
      bearing: 14.084843 deg,
      approach rate: 0.276998 m/s,
      LOS rate: -0.136183 deg/s,
      cmd heading: 5.720396 deg,
      new cmd heading: 5.535199 deg.

2025-08-21T07:13:26.240Z,1755760406.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096607 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:26.397Z,1755760406.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567423
2025-08-21T07:13:26.582Z,1755760406.582 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-21T07:13:26.584Z,1755760406.584 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-21T07:13:26.585Z,1755760406.585 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-21T07:13:26.588Z,1755760406.588 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0.
2025-08-21T07:13:26.589Z,1755760406.589 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0.
2025-08-21T07:13:26.590Z,1755760406.590 [BPC1](INFO): Calculating totals. Valid battery stick count: 19. Valid reserve battery stick count: 2.
2025-08-21T07:13:26.598Z,1755760406.598 [BPC1](FAULT): Failed to receive data from 28 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 26, 27, 33, 34, 36, 37, 38, 39, 44, 58.
2025-08-21T07:13:26.648Z,1755760406.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818956
2025-08-21T07:13:26.692Z,1755760406.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:26.694Z,1755760406.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:26.708Z,1755760406.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 181.341278 m,
      bearing: 14.021678 deg,
      approach rate: 0.267045 m/s,
      LOS rate: -0.131383 deg/s,
      cmd heading: 5.535199 deg,
      new cmd heading: 5.345839 deg.

2025-08-21T07:13:26.709Z,1755760406.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093302 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:26.904Z,1755760406.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074228
2025-08-21T07:13:27.003Z,1755760407.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:27.006Z,1755760407.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 181.426376 m,
      bearing: 13.979887 deg,
      approach rate: 0.275696 m/s,
      LOS rate: -0.135328 deg/s,
      cmd heading: 5.345839 deg,
      new cmd heading: 5.220525 deg.

2025-08-21T07:13:27.007Z,1755760407.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091115 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:27.153Z,1755760407.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323867
2025-08-21T07:13:27.404Z,1755760407.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574991
2025-08-21T07:13:27.413Z,1755760407.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:27.416Z,1755760407.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 181.527481 m,
      bearing: 13.924466 deg,
      approach rate: 0.246427 m/s,
      LOS rate: -0.135005 deg/s,
      cmd heading: 5.220525 deg,
      new cmd heading: 5.054355 deg.

2025-08-21T07:13:27.417Z,1755760407.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.088215 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:27.657Z,1755760407.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827148
2025-08-21T07:13:27.793Z,1755760407.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:27.796Z,1755760407.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 181.619370 m,
      bearing: 13.872075 deg,
      approach rate: 0.241840 m/s,
      LOS rate: -0.137818 deg/s,
      cmd heading: 5.054355 deg,
      new cmd heading: 4.897262 deg.

2025-08-21T07:13:27.797Z,1755760407.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.085473 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:27.908Z,1755760407.908 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:27.909Z,1755760407.909 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:27.909Z,1755760407.909 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:28.161Z,1755760408.161 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:28.161Z,1755760408.161 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:28.161Z,1755760408.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:28.216Z,1755760408.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:28.218Z,1755760408.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 181.716919 m,
      bearing: 13.814200 deg,
      approach rate: 0.231086 m/s,
      LOS rate: -0.137027 deg/s,
      cmd heading: 4.897262 deg,
      new cmd heading: 4.723731 deg.

2025-08-21T07:13:28.219Z,1755760408.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.082445 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:28.412Z,1755760408.412 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:28.412Z,1755760408.412 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:28.412Z,1755760408.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:28.652Z,1755760408.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:28.654Z,1755760408.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 181.814606 m,
      bearing: 13.757711 deg,
      approach rate: 0.232660 m/s,
      LOS rate: -0.134466 deg/s,
      cmd heading: 4.723731 deg,
      new cmd heading: 4.554356 deg.

2025-08-21T07:13:28.659Z,1755760408.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079489 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:28.664Z,1755760408.664 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:28.664Z,1755760408.664 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:28.664Z,1755760408.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:28.916Z,1755760408.916 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:28.916Z,1755760408.916 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:28.916Z,1755760408.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:29.011Z,1755760409.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:29.013Z,1755760409.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:29.016Z,1755760409.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 181.898758 m,
      bearing: 13.706980 deg,
      approach rate: 0.222770 m/s,
      LOS rate: -0.134235 deg/s,
      cmd heading: 4.554356 deg,
      new cmd heading: 4.402233 deg.

2025-08-21T07:13:29.017Z,1755760409.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076833 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:29.169Z,1755760409.169 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:29.169Z,1755760409.169 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:29.169Z,1755760409.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:29.420Z,1755760409.420 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:29.420Z,1755760409.420 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:29.420Z,1755760409.420 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:29.502Z,1755760409.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:29.510Z,1755760409.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.006134 m,
      bearing: 13.643933 deg,
      approach rate: 0.219743 m/s,
      LOS rate: -0.128946 deg/s,
      cmd heading: 4.402233 deg,
      new cmd heading: 4.213207 deg.

2025-08-21T07:13:29.511Z,1755760409.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073534 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:29.672Z,1755760409.672 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:29.672Z,1755760409.672 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:29.673Z,1755760409.673 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:29.925Z,1755760409.925 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:29.925Z,1755760409.925 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:29.925Z,1755760409.925 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:30.001Z,1755760410.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:30.003Z,1755760410.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.107468 m,
      bearing: 13.575763 deg,
      approach rate: 0.203172 m/s,
      LOS rate: -0.136604 deg/s,
      cmd heading: 4.213207 deg,
      new cmd heading: 4.008811 deg.

2025-08-21T07:13:30.004Z,1755760410.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069967 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:30.177Z,1755760410.177 [DAT](INFO): DAT read: Response Not Received

2025-08-21T07:13:30.177Z,1755760410.177 [DAT](INFO): response not received
2025-08-21T07:13:30.178Z,1755760410.178 [DAT](INFO): DAT read: user:2113>

2025-08-21T07:13:30.178Z,1755760410.178 [DAT](INFO): DAT read: Tx time:07:13:29.5185

2025-08-21T07:13:30.179Z,1755760410.179 [DAT](INFO): Ping request sent.
2025-08-21T07:13:30.179Z,1755760410.179 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:13:30.179Z,1755760410.179 [DAT](INFO): publishing transmit ping time
2025-08-21T07:13:30.180Z,1755760410.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000844
2025-08-21T07:13:30.428Z,1755760410.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249481
2025-08-21T07:13:30.438Z,1755760410.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:30.440Z,1755760410.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.188919 m,
      bearing: 13.519520 deg,
      approach rate: 0.186303 m/s,
      LOS rate: -0.128586 deg/s,
      cmd heading: 4.008811 deg,
      new cmd heading: 3.840158 deg.

2025-08-21T07:13:30.441Z,1755760410.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.067023 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:30.680Z,1755760410.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501305
2025-08-21T07:13:30.896Z,1755760410.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:30.898Z,1755760410.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.268936 m,
      bearing: 13.461644 deg,
      approach rate: 0.174629 m/s,
      LOS rate: -0.126254 deg/s,
      cmd heading: 3.840159 deg,
      new cmd heading: 3.666606 deg.

2025-08-21T07:13:30.900Z,1755760410.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.063994 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:30.932Z,1755760410.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753515
2025-08-21T07:13:31.184Z,1755760411.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005353
2025-08-21T07:13:31.301Z,1755760411.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:31.308Z,1755760411.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:31.310Z,1755760411.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.338577 m,
      bearing: 13.408790 deg,
      approach rate: 0.170886 m/s,
      LOS rate: -0.129644 deg/s,
      cmd heading: 3.666606 deg,
      new cmd heading: 3.508105 deg.

2025-08-21T07:13:31.316Z,1755760411.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061228 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:31.437Z,1755760411.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258028
2025-08-21T07:13:31.688Z,1755760411.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509391
2025-08-21T07:13:31.730Z,1755760411.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:31.733Z,1755760411.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.406540 m,
      bearing: 13.350367 deg,
      approach rate: 0.159282 m/s,
      LOS rate: -0.136874 deg/s,
      cmd heading: 3.508105 deg,
      new cmd heading: 3.332901 deg.

2025-08-21T07:13:31.734Z,1755760411.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058170 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:31.940Z,1755760411.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761290
2025-08-21T07:13:32.117Z,1755760412.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:32.120Z,1755760412.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.462555 m,
      bearing: 13.299479 deg,
      approach rate: 0.144778 m/s,
      LOS rate: -0.131486 deg/s,
      cmd heading: 3.332901 deg,
      new cmd heading: 3.180285 deg.

2025-08-21T07:13:32.121Z,1755760412.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055506 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:32.192Z,1755760412.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013190
2025-08-21T07:13:32.444Z,1755760412.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265550
2025-08-21T07:13:32.532Z,1755760412.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:32.534Z,1755760412.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.517349 m,
      bearing: 13.245160 deg,
      approach rate: 0.132148 m/s,
      LOS rate: -0.130963 deg/s,
      cmd heading: 3.180285 deg,
      new cmd heading: 3.017377 deg.

2025-08-21T07:13:32.552Z,1755760412.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.052663 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:32.696Z,1755760412.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517329
2025-08-21T07:13:32.917Z,1755760412.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:32.920Z,1755760412.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.565079 m,
      bearing: 13.194904 deg,
      approach rate: 0.123913 m/s,
      LOS rate: -0.130437 deg/s,
      cmd heading: 3.017377 deg,
      new cmd heading: 2.866650 deg.

2025-08-21T07:13:32.921Z,1755760412.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050032 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:32.948Z,1755760412.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769175
2025-08-21T07:13:33.200Z,1755760413.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021296
2025-08-21T07:13:33.313Z,1755760413.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:33.315Z,1755760413.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:33.318Z,1755760413.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.612534 m,
      bearing: 13.141661 deg,
      approach rate: 0.119122 m/s,
      LOS rate: -0.133616 deg/s,
      cmd heading: 2.866650 deg,
      new cmd heading: 2.706963 deg.

2025-08-21T07:13:33.319Z,1755760413.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047245 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:33.452Z,1755760413.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273448
2025-08-21T07:13:33.704Z,1755760413.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525308
2025-08-21T07:13:33.748Z,1755760413.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:33.751Z,1755760413.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.654282 m,
      bearing: 13.082702 deg,
      approach rate: 0.096384 m/s,
      LOS rate: -0.136088 deg/s,
      cmd heading: 2.706963 deg,
      new cmd heading: 2.530128 deg.

2025-08-21T07:13:33.752Z,1755760413.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.044159 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:33.956Z,1755760413.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777225
2025-08-21T07:13:34.129Z,1755760414.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:34.131Z,1755760414.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.688095 m,
      bearing: 13.030819 deg,
      approach rate: 0.088940 m/s,
      LOS rate: -0.136445 deg/s,
      cmd heading: 2.530128 deg,
      new cmd heading: 2.374506 deg.

2025-08-21T07:13:34.132Z,1755760414.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041443 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:34.209Z,1755760414.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029986
2025-08-21T07:13:34.461Z,1755760414.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.281907
2025-08-21T07:13:34.575Z,1755760414.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:34.589Z,1755760414.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.719269 m,
      bearing: 12.972402 deg,
      approach rate: 0.069902 m/s,
      LOS rate: -0.130967 deg/s,
      cmd heading: 2.374506 deg,
      new cmd heading: 2.199286 deg.

2025-08-21T07:13:34.590Z,1755760414.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038385 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:34.714Z,1755760414.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535287
2025-08-21T07:13:34.945Z,1755760414.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:34.947Z,1755760414.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.746140 m,
      bearing: 12.916739 deg,
      approach rate: 0.072625 m/s,
      LOS rate: -0.150420 deg/s,
      cmd heading: 2.199286 deg,
      new cmd heading: 2.032323 deg.

2025-08-21T07:13:34.948Z,1755760414.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035471 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:34.966Z,1755760414.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787411
2025-08-21T07:13:35.216Z,1755760415.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037302
2025-08-21T07:13:35.338Z,1755760415.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:35.340Z,1755760415.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:35.343Z,1755760415.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.770004 m,
      bearing: 12.861208 deg,
      approach rate: 0.060304 m/s,
      LOS rate: -0.140305 deg/s,
      cmd heading: 2.032323 deg,
      new cmd heading: 1.865751 deg.

2025-08-21T07:13:35.344Z,1755760415.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032563 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:35.470Z,1755760415.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290331
2025-08-21T07:13:35.720Z,1755760415.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541430
2025-08-21T07:13:35.773Z,1755760415.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:35.779Z,1755760415.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.788605 m,
      bearing: 12.800081 deg,
      approach rate: 0.042987 m/s,
      LOS rate: -0.141256 deg/s,
      cmd heading: 1.865751 deg,
      new cmd heading: 1.682389 deg.

2025-08-21T07:13:35.780Z,1755760415.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.029363 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:35.972Z,1755760415.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793398
2025-08-21T07:13:36.159Z,1755760416.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:36.164Z,1755760416.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.802246 m,
      bearing: 12.746302 deg,
      approach rate: 0.035355 m/s,
      LOS rate: -0.139371 deg/s,
      cmd heading: 1.682389 deg,
      new cmd heading: 1.521065 deg.

2025-08-21T07:13:36.165Z,1755760416.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026548 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:36.225Z,1755760416.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046461
2025-08-21T07:13:36.476Z,1755760416.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297336
2025-08-21T07:13:36.689Z,1755760416.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:36.691Z,1755760416.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.812119 m,
      bearing: 12.675254 deg,
      approach rate: 0.018630 m/s,
      LOS rate: -0.134065 deg/s,
      cmd heading: 1.521065 deg,
      new cmd heading: 1.307934 deg.

2025-08-21T07:13:36.692Z,1755760416.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022828 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:36.729Z,1755760416.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550006
2025-08-21T07:13:36.980Z,1755760416.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801200
2025-08-21T07:13:37.053Z,1755760417.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:37.059Z,1755760417.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.816849 m,
      bearing: 12.621337 deg,
      approach rate: 0.012970 m/s,
      LOS rate: -0.147829 deg/s,
      cmd heading: 1.307934 deg,
      new cmd heading: 1.146186 deg.

2025-08-21T07:13:37.062Z,1755760417.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020005 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:37.232Z,1755760417.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053402
2025-08-21T07:13:37.487Z,1755760417.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307646
2025-08-21T07:13:37.593Z,1755760417.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:37.599Z,1755760417.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:37.602Z,1755760417.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.810974 m,
      bearing: 12.548968 deg,
      approach rate: -0.010844 m/s,
      LOS rate: -0.133587 deg/s,
      cmd heading: 1.146186 deg,
      new cmd heading: 0.929075 deg.

2025-08-21T07:13:37.603Z,1755760417.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.016215 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:37.737Z,1755760417.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557674
2025-08-21T07:13:37.958Z,1755760417.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:37.961Z,1755760417.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.804184 m,
      bearing: 12.497539 deg,
      approach rate: -0.018697 m/s,
      LOS rate: -0.141619 deg/s,
      cmd heading: 0.929075 deg,
      new cmd heading: 0.774782 deg.

2025-08-21T07:13:37.962Z,1755760417.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013522 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:37.988Z,1755760417.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809380
2025-08-21T07:13:38.240Z,1755760418.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061300
2025-08-21T07:13:38.348Z,1755760418.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:38.350Z,1755760418.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.794327 m,
      bearing: 12.444451 deg,
      approach rate: -0.025341 m/s,
      LOS rate: -0.136484 deg/s,
      cmd heading: 0.774782 deg,
      new cmd heading: 0.615510 deg.

2025-08-21T07:13:38.367Z,1755760418.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010743 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:38.497Z,1755760418.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316020
2025-08-21T07:13:38.744Z,1755760418.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565421
2025-08-21T07:13:38.772Z,1755760418.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:38.775Z,1755760418.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.776382 m,
      bearing: 12.386927 deg,
      approach rate: -0.042234 m/s,
      LOS rate: -0.135402 deg/s,
      cmd heading: 0.615510 deg,
      new cmd heading: 0.442922 deg.

2025-08-21T07:13:38.796Z,1755760418.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007730 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:38.997Z,1755760418.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.817768
2025-08-21T07:13:39.171Z,1755760419.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:39.175Z,1755760419.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.756943 m,
      bearing: 12.333690 deg,
      approach rate: -0.048785 m/s,
      LOS rate: -0.133613 deg/s,
      cmd heading: 0.442922 deg,
      new cmd heading: 0.283195 deg.

2025-08-21T07:13:39.177Z,1755760419.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004943 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:39.250Z,1755760419.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071436
2025-08-21T07:13:39.503Z,1755760419.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323675
2025-08-21T07:13:39.609Z,1755760419.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:39.612Z,1755760419.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.736099 m,
      bearing: 12.276107 deg,
      approach rate: -0.047565 m/s,
      LOS rate: -0.131422 deg/s,
      cmd heading: 0.283195 deg,
      new cmd heading: 0.110426 deg.

2025-08-21T07:13:39.613Z,1755760419.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001927 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:39.752Z,1755760419.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573308
2025-08-21T07:13:39.978Z,1755760419.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:39.980Z,1755760419.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:39.983Z,1755760419.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.711456 m,
      bearing: 12.223996 deg,
      approach rate: -0.066343 m/s,
      LOS rate: -0.140309 deg/s,
      cmd heading: 0.110426 deg,
      new cmd heading: 359.954073 deg.

2025-08-21T07:13:39.984Z,1755760419.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282384 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:40.004Z,1755760420.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.825354
2025-08-21T07:13:40.256Z,1755760420.256 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:40.256Z,1755760420.256 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:40.256Z,1755760420.256 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:40.376Z,1755760420.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:40.378Z,1755760420.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.683472 m,
      bearing: 12.170835 deg,
      approach rate: -0.070747 m/s,
      LOS rate: -0.134415 deg/s,
      cmd heading: 359.954084 deg,
      new cmd heading: 359.794576 deg.

2025-08-21T07:13:40.380Z,1755760420.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279600 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:40.510Z,1755760420.510 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:40.511Z,1755760420.511 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:40.512Z,1755760420.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:40.760Z,1755760420.760 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:40.760Z,1755760420.760 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:40.760Z,1755760420.760 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:40.821Z,1755760420.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:40.824Z,1755760420.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.646469 m,
      bearing: 12.114583 deg,
      approach rate: -0.083188 m/s,
      LOS rate: -0.126491 deg/s,
      cmd heading: 359.794585 deg,
      new cmd heading: 359.625794 deg.

2025-08-21T07:13:40.825Z,1755760420.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276654 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:41.012Z,1755760421.012 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:41.012Z,1755760421.012 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:41.012Z,1755760421.012 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:41.189Z,1755760421.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:41.192Z,1755760421.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.612732 m,
      bearing: 12.067324 deg,
      approach rate: -0.091667 m/s,
      LOS rate: -0.128431 deg/s,
      cmd heading: 359.625798 deg,
      new cmd heading: 359.483995 deg.

2025-08-21T07:13:41.193Z,1755760421.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274179 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:41.264Z,1755760421.264 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:41.265Z,1755760421.265 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:41.265Z,1755760421.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:41.520Z,1755760421.520 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:41.521Z,1755760421.521 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:41.522Z,1755760421.522 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:41.659Z,1755760421.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:41.662Z,1755760421.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.568344 m,
      bearing: 12.009960 deg,
      approach rate: -0.094452 m/s,
      LOS rate: -0.122093 deg/s,
      cmd heading: 359.484003 deg,
      new cmd heading: 359.311870 deg.

2025-08-21T07:13:41.662Z,1755760421.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271175 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:41.768Z,1755760421.768 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:41.768Z,1755760421.768 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:41.768Z,1755760421.768 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:41.985Z,1755760421.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:41.988Z,1755760421.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:41.990Z,1755760421.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.529526 m,
      bearing: 11.966700 deg,
      approach rate: -0.118091 m/s,
      LOS rate: -0.131632 deg/s,
      cmd heading: 359.311882 deg,
      new cmd heading: 359.182074 deg.

2025-08-21T07:13:41.992Z,1755760421.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268910 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:42.020Z,1755760422.020 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:42.020Z,1755760422.020 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:42.020Z,1755760422.020 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:42.272Z,1755760422.272 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:42.272Z,1755760422.272 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:42.272Z,1755760422.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:42.392Z,1755760422.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:42.394Z,1755760422.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.481140 m,
      bearing: 11.916207 deg,
      approach rate: -0.119800 m/s,
      LOS rate: -0.125049 deg/s,
      cmd heading: 359.182081 deg,
      new cmd heading: 359.030564 deg.

2025-08-21T07:13:42.395Z,1755760422.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.266265 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:42.529Z,1755760422.529 [DAT](INFO): DAT read: Response Not Received

2025-08-21T07:13:42.529Z,1755760422.529 [DAT](INFO): response not received
2025-08-21T07:13:42.530Z,1755760422.530 [DAT](INFO): DAT read: user:2114>

2025-08-21T07:13:42.532Z,1755760422.532 [DAT](ERROR): No response from remote modem.
2025-08-21T07:13:42.533Z,1755760422.533 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:42.534Z,1755760422.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:42.776Z,1755760422.776 [DAT](INFO): DAT read: Tx time:07:13:41.9685

2025-08-21T07:13:42.777Z,1755760422.777 [DAT](INFO): Ping request sent.
2025-08-21T07:13:42.777Z,1755760422.777 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:13:42.777Z,1755760422.777 [DAT](INFO): publishing transmit ping time
2025-08-21T07:13:42.778Z,1755760422.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-08-21T07:13:42.845Z,1755760422.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:42.852Z,1755760422.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.426208 m,
      bearing: 11.864872 deg,
      approach rate: -0.121046 m/s,
      LOS rate: -0.113156 deg/s,
      cmd heading: 359.030560 deg,
      new cmd heading: 358.876508 deg.

2025-08-21T07:13:42.853Z,1755760422.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263577 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:43.028Z,1755760423.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251464
2025-08-21T07:13:43.209Z,1755760423.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:43.212Z,1755760423.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.370987 m,
      bearing: 11.816097 deg,
      approach rate: -0.151874 m/s,
      LOS rate: -0.134182 deg/s,
      cmd heading: 358.876499 deg,
      new cmd heading: 358.730132 deg.

2025-08-21T07:13:43.212Z,1755760423.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261022 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:43.281Z,1755760423.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503844
2025-08-21T07:13:43.535Z,1755760423.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757742
2025-08-21T07:13:43.658Z,1755760423.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:43.660Z,1755760423.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.301758 m,
      bearing: 11.762185 deg,
      approach rate: -0.154217 m/s,
      LOS rate: -0.120142 deg/s,
      cmd heading: 358.730141 deg,
      new cmd heading: 358.568344 deg.

2025-08-21T07:13:43.661Z,1755760423.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258198 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:43.785Z,1755760423.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008211
2025-08-21T07:13:44.011Z,1755760424.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:44.013Z,1755760424.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:44.016Z,1755760424.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.246826 m,
      bearing: 11.721443 deg,
      approach rate: -0.154372 m/s,
      LOS rate: -0.114530 deg/s,
      cmd heading: 358.568348 deg,
      new cmd heading: 358.446085 deg.

2025-08-21T07:13:44.017Z,1755760424.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.256064 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:44.036Z,1755760424.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259564
2025-08-21T07:13:44.288Z,1755760424.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511415
2025-08-21T07:13:44.411Z,1755760424.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:44.414Z,1755760424.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.177917 m,
      bearing: 11.672701 deg,
      approach rate: -0.173367 m/s,
      LOS rate: -0.122677 deg/s,
      cmd heading: 358.446087 deg,
      new cmd heading: 358.299805 deg.

2025-08-21T07:13:44.415Z,1755760424.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253511 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:44.544Z,1755760424.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766358
2025-08-21T07:13:44.792Z,1755760424.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015545
2025-08-21T07:13:44.850Z,1755760424.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:44.853Z,1755760424.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.105133 m,
      bearing: 11.622084 deg,
      approach rate: -0.166828 m/s,
      LOS rate: -0.116065 deg/s,
      cmd heading: 358.299812 deg,
      new cmd heading: 358.147900 deg.

2025-08-21T07:13:44.854Z,1755760424.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.250860 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:45.046Z,1755760425.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268578
2025-08-21T07:13:45.224Z,1755760425.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:45.226Z,1755760425.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 182.039856 m,
      bearing: 11.578726 deg,
      approach rate: -0.173334 m/s,
      LOS rate: -0.115173 deg/s,
      cmd heading: 358.147909 deg,
      new cmd heading: 358.017788 deg.

2025-08-21T07:13:45.228Z,1755760425.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.248589 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:45.297Z,1755760425.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519952
2025-08-21T07:13:45.551Z,1755760425.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773740
2025-08-21T07:13:45.660Z,1755760425.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:45.662Z,1755760425.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 181.956528 m,
      bearing: 11.528003 deg,
      approach rate: -0.191083 m/s,
      LOS rate: -0.116367 deg/s,
      cmd heading: 358.017780 deg,
      new cmd heading: 357.865543 deg.

2025-08-21T07:13:45.664Z,1755760425.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245932 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:45.800Z,1755760425.800 [DAT](INFO): DAT read: Rx Time:07:13:44.6155

2025-08-21T07:13:45.801Z,1755760425.801 [DAT](INFO): Rx dataTimestamp_ set to:1755760425.800367
2025-08-21T07:13:45.801Z,1755760425.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024441
2025-08-21T07:13:46.048Z,1755760426.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:46.055Z,1755760426.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277824
2025-08-21T07:13:46.056Z,1755760426.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:46.061Z,1755760426.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 181.881561 m,
      bearing: 11.484130 deg,
      approach rate: -0.191646 m/s,
      LOS rate: -0.112204 deg/s,
      cmd heading: 357.865549 deg,
      new cmd heading: 357.733876 deg.

2025-08-21T07:13:46.087Z,1755760426.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.243634 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:46.307Z,1755760426.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530050
2025-08-21T07:13:46.432Z,1755760426.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.69 m.
2025-08-21T07:13:46.434Z,1755760426.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 215.686371 m,
      nav range: 181.801773 m,
      bearing: 11.439288 deg,
      approach rate: -0.209602 m/s,
      LOS rate: -0.117850 deg/s,
      cmd heading: 357.733863 deg,
      new cmd heading: 357.599279 deg.

2025-08-21T07:13:46.435Z,1755760426.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241285 target range: 215.686371 and range: 216.90 m.
2025-08-21T07:13:46.578Z,1755760426.578 [DAT](INFO): DAT read: 07:13:44.6155 LVL= 31472, 28721, 20402, 32691, AGC= 68, IDX= 451,-0.08, 2.805, 2.935,-1.223,-2.622, PHS=-0.754,-0.682, 1.355, RAW= 211.7,   0.8, CAL= 210.8,  -0.7, ROT= 299.2,   0.7

2025-08-21T07:13:46.584Z,1755760426.584 [DAT](INFO): got valid direction response:
 07:13:44.6155 LVL= 31472, 28721, 20402, 32691, AGC= 68, IDX= 451,-0.08, 2.805, 2.935,-1.223,-2.622, PHS=-0.754,-0.682, 1.355, RAW= 211.7,   0.8, CAL= 210.8,  -0.7, ROT= 299.2,   0.7

2025-08-21T07:13:46.588Z,1755760426.588 [DAT](INFO): DAT read: Bearing 215.5, -63.5 (Local)

2025-08-21T07:13:46.589Z,1755760426.589 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.5, -63.5 (Local)

2025-08-21T07:13:46.594Z,1755760426.594 [DAT](INFO): DAT read: Range 11 to 50 : 182.1 m  (Round-trip  242.8 ms) speed -0.2 m/s

2025-08-21T07:13:46.596Z,1755760426.596 [DAT](INFO): DAT read: user:2115>

2025-08-21T07:13:46.598Z,1755760426.598 [DAT](INFO): DAT read: Tx time:07:13:45.7185

2025-08-21T07:13:46.600Z,1755760426.600 [DAT](INFO): Ping request sent.
2025-08-21T07:13:46.601Z,1755760426.601 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:13:46.601Z,1755760426.601 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:13:46.605Z,1755760426.605 [DAT](INFO): direction in FSK: [0.487823,-0.872857,-0.012217]
2025-08-21T07:13:46.606Z,1755760426.606 [DAT](INFO): publishing transmit ping time
2025-08-21T07:13:46.607Z,1755760426.607 [DAT](INFO): publishing direction and range info
2025-08-21T07:13:46.652Z,1755760426.652 [DAT](INFO): publishing transmit ping time
2025-08-21T07:13:46.653Z,1755760426.653 [DAT](INFO): publishing direction and range info
2025-08-21T07:13:46.882Z,1755760426.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 182.100006 m,
      deltaT: 37.045497 s,
      deltaX: -34.799988 m,
      approachRate: -0.939385 m/s,
      rangeRepo size: 3

2025-08-21T07:13:46.888Z,1755760426.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 181.070175 m,
      bearing: 10.417553 deg,
      lat: 36.779374 deg,
      lon: -121.859262 deg,
      deltaT: 37.045497 s,
      deltaX: -34.616196 m,
      approachRate: -0.934424 m/s,
      posRepo size: 3

2025-08-21T07:13:46.889Z,1755760426.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:46.896Z,1755760426.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 181.070099 m,
      bearing: 10.417336 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.117850 deg/s,
      cmd heading: 357.599280 deg,
      new cmd heading: 357.440362 deg.

2025-08-21T07:13:46.897Z,1755760426.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238511 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:47.238Z,1755760427.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:47.241Z,1755760427.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 180.990692 m,
      bearing: 10.373589 deg,
      approach rate: -0.222470 m/s,
      LOS rate: -0.122619 deg/s,
      cmd heading: 357.440356 deg,
      new cmd heading: 357.309056 deg.

2025-08-21T07:13:47.242Z,1755760427.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.236219 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:47.687Z,1755760427.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:47.690Z,1755760427.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 180.888870 m,
      bearing: 10.323347 deg,
      approach rate: -0.226934 m/s,
      LOS rate: -0.112037 deg/s,
      cmd heading: 357.309052 deg,
      new cmd heading: 357.158244 deg.

2025-08-21T07:13:47.691Z,1755760427.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.233587 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:48.067Z,1755760428.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:48.070Z,1755760428.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:48.073Z,1755760428.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 180.800690 m,
      bearing: 10.281282 deg,
      approach rate: -0.230103 m/s,
      LOS rate: -0.109822 deg/s,
      cmd heading: 357.158242 deg,
      new cmd heading: 357.031983 deg.

2025-08-21T07:13:48.074Z,1755760428.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.231384 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:48.320Z,1755760428.320 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:13:48.320Z,1755760428.320 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:13:48.321Z,1755760428.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:48.452Z,1755760428.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:48.455Z,1755760428.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 180.709366 m,
      bearing: 10.239130 deg,
      approach rate: -0.239598 m/s,
      LOS rate: -0.110645 deg/s,
      cmd heading: 357.031992 deg,
      new cmd heading: 356.905474 deg.

2025-08-21T07:13:48.456Z,1755760428.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229176 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:48.572Z,1755760428.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.972283
2025-08-21T07:13:48.824Z,1755760428.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.224293
2025-08-21T07:13:48.903Z,1755760428.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:48.906Z,1755760428.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 180.600540 m,
      bearing: 10.192171 deg,
      approach rate: -0.242951 m/s,
      LOS rate: -0.104899 deg/s,
      cmd heading: 356.905470 deg,
      new cmd heading: 356.764507 deg.

2025-08-21T07:13:48.907Z,1755760428.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.226715 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:49.076Z,1755760429.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476486
2025-08-21T07:13:49.267Z,1755760429.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:49.270Z,1755760429.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 180.502960 m,
      bearing: 10.151512 deg,
      approach rate: -0.265330 m/s,
      LOS rate: -0.110616 deg/s,
      cmd heading: 356.764495 deg,
      new cmd heading: 356.642452 deg.

2025-08-21T07:13:49.271Z,1755760429.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.224585 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:49.329Z,1755760429.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729418
2025-08-21T07:13:49.580Z,1755760429.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.980193
2025-08-21T07:13:49.717Z,1755760429.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:49.735Z,1755760429.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 180.378067 m,
      bearing: 10.105146 deg,
      approach rate: -0.277834 m/s,
      LOS rate: -0.103216 deg/s,
      cmd heading: 356.642453 deg,
      new cmd heading: 356.503260 deg.

2025-08-21T07:13:49.736Z,1755760429.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.222156 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:49.832Z,1755760429.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232255
2025-08-21T07:13:50.077Z,1755760430.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:50.079Z,1755760430.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:50.082Z,1755760430.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 180.278076 m,
      bearing: 10.069247 deg,
      approach rate: -0.275653 m/s,
      LOS rate: -0.099019 deg/s,
      cmd heading: 356.503254 deg,
      new cmd heading: 356.395498 deg.

2025-08-21T07:13:50.084Z,1755760430.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484410
2025-08-21T07:13:50.085Z,1755760430.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220275 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:50.336Z,1755760430.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.736272
2025-08-21T07:13:50.469Z,1755760430.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:50.472Z,1755760430.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 180.168564 m,
      bearing: 10.031248 deg,
      approach rate: -0.281051 m/s,
      LOS rate: -0.097581 deg/s,
      cmd heading: 356.395501 deg,
      new cmd heading: 356.281433 deg.

2025-08-21T07:13:50.473Z,1755760430.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.218284 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:50.588Z,1755760430.588 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.988475
2025-08-21T07:13:50.840Z,1755760430.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.240166
2025-08-21T07:13:50.913Z,1755760430.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:50.920Z,1755760430.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 180.043030 m,
      bearing: 9.989800 deg,
      approach rate: -0.282681 m/s,
      LOS rate: -0.093399 deg/s,
      cmd heading: 356.281436 deg,
      new cmd heading: 356.157005 deg.

2025-08-21T07:13:50.921Z,1755760430.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216113 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:51.092Z,1755760431.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.492146
2025-08-21T07:13:51.282Z,1755760431.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:51.285Z,1755760431.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 179.925644 m,
      bearing: 9.952361 deg,
      approach rate: -0.317775 m/s,
      LOS rate: -0.101417 deg/s,
      cmd heading: 356.157018 deg,
      new cmd heading: 356.044628 deg.

2025-08-21T07:13:51.286Z,1755760431.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214151 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:51.345Z,1755760431.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.744946
2025-08-21T07:13:51.596Z,1755760431.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.996264
2025-08-21T07:13:51.757Z,1755760431.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:51.764Z,1755760431.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 179.778519 m,
      bearing: 9.910865 deg,
      approach rate: -0.310075 m/s,
      LOS rate: -0.087526 deg/s,
      cmd heading: 356.044620 deg,
      new cmd heading: 355.920031 deg.

2025-08-21T07:13:51.768Z,1755760431.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211977 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:51.849Z,1755760431.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.249502
2025-08-21T07:13:52.101Z,1755760432.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.500619
2025-08-21T07:13:52.108Z,1755760432.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:52.110Z,1755760432.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:52.113Z,1755760432.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 179.661057 m,
      bearing: 9.877670 deg,
      approach rate: -0.332595 m/s,
      LOS rate: -0.094051 deg/s,
      cmd heading: 355.920037 deg,
      new cmd heading: 355.820390 deg.

2025-08-21T07:13:52.114Z,1755760432.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210238 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:52.356Z,1755760432.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.756052
2025-08-21T07:13:52.492Z,1755760432.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:52.495Z,1755760432.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 179.533844 m,
      bearing: 9.844233 deg,
      approach rate: -0.332801 m/s,
      LOS rate: -0.087537 deg/s,
      cmd heading: 355.820399 deg,
      new cmd heading: 355.720016 deg.

2025-08-21T07:13:52.508Z,1755760432.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208486 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:52.605Z,1755760432.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.005398
2025-08-21T07:13:52.856Z,1755760432.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.256478
2025-08-21T07:13:52.936Z,1755760432.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:52.938Z,1755760432.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 179.383774 m,
      bearing: 9.807877 deg,
      approach rate: -0.338748 m/s,
      LOS rate: -0.082133 deg/s,
      cmd heading: 355.720022 deg,
      new cmd heading: 355.610864 deg.

2025-08-21T07:13:52.955Z,1755760432.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.206581 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:53.108Z,1755760433.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.508413
2025-08-21T07:13:53.310Z,1755760433.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:53.321Z,1755760433.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 179.255722 m,
      bearing: 9.777936 deg,
      approach rate: -0.341641 m/s,
      LOS rate: -0.079941 deg/s,
      cmd heading: 355.610876 deg,
      new cmd heading: 355.520986 deg.

2025-08-21T07:13:53.322Z,1755760433.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205012 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:53.360Z,1755760433.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.760445
2025-08-21T07:13:53.612Z,1755760433.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.012365
2025-08-21T07:13:53.857Z,1755760433.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:53.860Z,1755760433.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 179.061523 m,
      bearing: 9.734154 deg,
      approach rate: -0.355009 m/s,
      LOS rate: -0.080123 deg/s,
      cmd heading: 355.520991 deg,
      new cmd heading: 355.389503 deg.

2025-08-21T07:13:53.861Z,1755760433.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202717 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:53.864Z,1755760433.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.264419
2025-08-21T07:13:54.116Z,1755760434.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.516220
2025-08-21T07:13:54.225Z,1755760434.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:54.227Z,1755760434.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:54.230Z,1755760434.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 178.927628 m,
      bearing: 9.706177 deg,
      approach rate: -0.361949 m/s,
      LOS rate: -0.075684 deg/s,
      cmd heading: 355.389496 deg,
      new cmd heading: 355.305502 deg.

2025-08-21T07:13:54.231Z,1755760434.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201251 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:54.370Z,1755760434.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.769769
2025-08-21T07:13:54.621Z,1755760434.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.020960
2025-08-21T07:13:54.753Z,1755760434.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:54.764Z,1755760434.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 178.737701 m,
      bearing: 9.667975 deg,
      approach rate: -0.361040 m/s,
      LOS rate: -0.072697 deg/s,
      cmd heading: 355.305512 deg,
      new cmd heading: 355.190785 deg.

2025-08-21T07:13:54.765Z,1755760434.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.199249 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:54.872Z,1755760434.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.272170
2025-08-21T07:13:55.125Z,1755760435.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.524627
2025-08-21T07:13:55.126Z,1755760435.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:55.134Z,1755760435.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 178.595871 m,
      bearing: 9.639716 deg,
      approach rate: -0.383004 m/s,
      LOS rate: -0.076372 deg/s,
      cmd heading: 355.190792 deg,
      new cmd heading: 355.105947 deg.

2025-08-21T07:13:55.134Z,1755760435.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.197768 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:55.376Z,1755760435.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.776304
2025-08-21T07:13:55.487Z,1755760435.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:55.490Z,1755760435.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 178.456238 m,
      bearing: 9.614017 deg,
      approach rate: -0.384480 m/s,
      LOS rate: -0.070818 deg/s,
      cmd heading: 355.105961 deg,
      new cmd heading: 355.028804 deg.

2025-08-21T07:13:55.490Z,1755760435.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196422 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:55.628Z,1755760435.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.028333
2025-08-21T07:13:55.876Z,1755760435.876 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:13:55.880Z,1755760435.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.280315
2025-08-21T07:13:55.926Z,1755760435.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:55.933Z,1755760435.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 178.284744 m,
      bearing: 9.584327 deg,
      approach rate: -0.390529 m/s,
      LOS rate: -0.067677 deg/s,
      cmd heading: 355.028807 deg,
      new cmd heading: 354.939651 deg.

2025-08-21T07:13:55.934Z,1755760435.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194866 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:56.132Z,1755760436.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.532376
2025-08-21T07:13:56.294Z,1755760436.294 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:56.297Z,1755760436.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:56.299Z,1755760436.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 178.138535 m,
      bearing: 9.560053 deg,
      approach rate: -0.394312 m/s,
      LOS rate: -0.065517 deg/s,
      cmd heading: 354.939659 deg,
      new cmd heading: 354.866779 deg.

2025-08-21T07:13:56.300Z,1755760436.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193594 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:56.385Z,1755760436.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.784723
2025-08-21T07:13:56.636Z,1755760436.636 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:56.636Z,1755760436.636 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:56.636Z,1755760436.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:56.765Z,1755760436.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:56.773Z,1755760436.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 177.976318 m,
      bearing: 9.534210 deg,
      approach rate: -0.347121 m/s,
      LOS rate: -0.055352 deg/s,
      cmd heading: 354.866768 deg,
      new cmd heading: 354.789166 deg.

2025-08-21T07:13:56.781Z,1755760436.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.192239 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:56.881Z,1755760436.881 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:13:56.888Z,1755760436.888 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:56.888Z,1755760436.888 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:56.888Z,1755760436.888 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:57.141Z,1755760437.141 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:57.141Z,1755760437.141 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:57.141Z,1755760437.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:57.204Z,1755760437.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:57.206Z,1755760437.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 177.769073 m,
      bearing: 9.502586 deg,
      approach rate: -0.475758 m/s,
      LOS rate: -0.072681 deg/s,
      cmd heading: 354.789177 deg,
      new cmd heading: 354.694195 deg.

2025-08-21T07:13:57.211Z,1755760437.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.190581 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:57.392Z,1755760437.392 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:57.392Z,1755760437.392 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:57.393Z,1755760437.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:57.576Z,1755760437.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:57.578Z,1755760437.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 177.605865 m,
      bearing: 9.479855 deg,
      approach rate: -0.433631 m/s,
      LOS rate: -0.060451 deg/s,
      cmd heading: 354.694182 deg,
      new cmd heading: 354.625925 deg.

2025-08-21T07:13:57.596Z,1755760437.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.189390 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:57.648Z,1755760437.648 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:57.648Z,1755760437.648 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:57.648Z,1755760437.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:57.900Z,1755760437.900 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:57.900Z,1755760437.900 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:57.901Z,1755760437.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:58.002Z,1755760438.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:58.006Z,1755760438.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 177.426605 m,
      bearing: 9.457104 deg,
      approach rate: -0.420653 m/s,
      LOS rate: -0.053440 deg/s,
      cmd heading: 354.625935 deg,
      new cmd heading: 354.557615 deg.

2025-08-21T07:13:58.028Z,1755760438.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.188198 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:58.153Z,1755760438.153 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:58.153Z,1755760438.153 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:58.153Z,1755760438.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:58.390Z,1755760438.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:13:58.397Z,1755760438.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:58.404Z,1755760438.404 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:58.404Z,1755760438.404 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:58.405Z,1755760438.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:58.407Z,1755760438.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 177.268448 m,
      bearing: 9.438013 deg,
      approach rate: -0.400642 m/s,
      LOS rate: -0.048404 deg/s,
      cmd heading: 354.557606 deg,
      new cmd heading: 354.500282 deg.

2025-08-21T07:13:58.420Z,1755760438.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187197 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:58.657Z,1755760438.657 [DAT](INFO): Reached modem response timeout
2025-08-21T07:13:58.657Z,1755760438.657 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:13:58.657Z,1755760438.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:13:58.872Z,1755760438.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:58.874Z,1755760438.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 177.066040 m,
      bearing: 9.415126 deg,
      approach rate: -0.457678 m/s,
      LOS rate: -0.051810 deg/s,
      cmd heading: 354.500287 deg,
      new cmd heading: 354.431548 deg.

2025-08-21T07:13:58.876Z,1755760438.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185997 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:58.908Z,1755760438.908 [DAT](INFO): DAT read: Response Not Received

2025-08-21T07:13:58.909Z,1755760438.909 [DAT](INFO): response not received
2025-08-21T07:13:58.909Z,1755760438.909 [DAT](INFO): DAT read: user:2116>

2025-08-21T07:13:58.910Z,1755760438.910 [DAT](INFO): DAT read: Tx time:07:13:58.1684

2025-08-21T07:13:58.910Z,1755760438.910 [DAT](INFO): Ping request sent.
2025-08-21T07:13:58.910Z,1755760438.910 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:13:58.910Z,1755760438.910 [DAT](INFO): publishing transmit ping time
2025-08-21T07:13:58.911Z,1755760438.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747
2025-08-21T07:13:59.165Z,1755760439.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254856
2025-08-21T07:13:59.199Z,1755760439.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:59.202Z,1755760439.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 176.907761 m,
      bearing: 9.398202 deg,
      approach rate: -0.439795 m/s,
      LOS rate: -0.047067 deg/s,
      cmd heading: 354.431548 deg,
      new cmd heading: 354.380730 deg.

2025-08-21T07:13:59.203Z,1755760439.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185111 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:59.417Z,1755760439.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506288
2025-08-21T07:13:59.597Z,1755760439.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:13:59.600Z,1755760439.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 176.731750 m,
      bearing: 9.380467 deg,
      approach rate: -0.442193 m/s,
      LOS rate: -0.044601 deg/s,
      cmd heading: 354.380731 deg,
      new cmd heading: 354.327472 deg.

2025-08-21T07:13:59.601Z,1755760439.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.184181 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:13:59.668Z,1755760439.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757795
2025-08-21T07:13:59.920Z,1755760439.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009969
2025-08-21T07:14:00.079Z,1755760440.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:14:00.082Z,1755760440.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 176.520660 m,
      bearing: 9.361197 deg,
      approach rate: -0.452907 m/s,
      LOS rate: -0.041395 deg/s,
      cmd heading: 354.327483 deg,
      new cmd heading: 354.269604 deg.

2025-08-21T07:14:00.083Z,1755760440.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183171 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:14:00.173Z,1755760440.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262464
2025-08-21T07:14:00.418Z,1755760440.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:00.420Z,1755760440.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:14:00.422Z,1755760440.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 176.351410 m,
      bearing: 9.346755 deg,
      approach rate: -0.474072 m/s,
      LOS rate: -0.040491 deg/s,
      cmd heading: 354.269591 deg,
      new cmd heading: 354.226223 deg.

2025-08-21T07:14:00.424Z,1755760440.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514062
2025-08-21T07:14:00.425Z,1755760440.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182414 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:14:00.677Z,1755760440.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766626
2025-08-21T07:14:00.865Z,1755760440.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:14:00.868Z,1755760440.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 176.151581 m,
      bearing: 9.332621 deg,
      approach rate: -0.448709 m/s,
      LOS rate: -0.031773 deg/s,
      cmd heading: 354.226233 deg,
      new cmd heading: 354.183783 deg.

2025-08-21T07:14:00.869Z,1755760440.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181673 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:14:00.929Z,1755760440.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018776
2025-08-21T07:14:01.180Z,1755760441.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270004
2025-08-21T07:14:01.243Z,1755760441.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:14:01.246Z,1755760441.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 175.982330 m,
      bearing: 9.320623 deg,
      approach rate: -0.448285 m/s,
      LOS rate: -0.031808 deg/s,
      cmd heading: 354.183776 deg,
      new cmd heading: 354.147749 deg.

2025-08-21T07:14:01.247Z,1755760441.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181044 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:14:01.436Z,1755760441.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525341
2025-08-21T07:14:01.625Z,1755760441.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:14:01.627Z,1755760441.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 175.810181 m,
      bearing: 9.310445 deg,
      approach rate: -0.451023 m/s,
      LOS rate: -0.026693 deg/s,
      cmd heading: 354.147740 deg,
      new cmd heading: 354.117175 deg.

2025-08-21T07:14:01.628Z,1755760441.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180511 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:14:01.685Z,1755760441.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774455
2025-08-21T07:14:01.940Z,1755760441.940 [DAT](INFO): DAT read: Rx Time:07:14:00.8086

2025-08-21T07:14:01.941Z,1755760441.941 [DAT](INFO): Rx dataTimestamp_ set to:1755760441.940228
2025-08-21T07:14:01.941Z,1755760441.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030782
2025-08-21T07:14:02.140Z,1755760442.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:14:02.144Z,1755760442.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 175.561249 m,
      bearing: 9.297718 deg,
      approach rate: -0.483103 m/s,
      LOS rate: -0.024733 deg/s,
      cmd heading: 354.117168 deg,
      new cmd heading: 354.078934 deg.

2025-08-21T07:14:02.146Z,1755760442.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179843 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:14:02.188Z,1755760442.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278031
2025-08-21T07:14:02.440Z,1755760442.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529766
2025-08-21T07:14:02.552Z,1755760442.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:02.554Z,1755760442.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.07 m.
2025-08-21T07:14:02.560Z,1755760442.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 181.070175 m,
      nav range: 175.364792 m,
      bearing: 9.287649 deg,
      approach rate: -0.474779 m/s,
      LOS rate: -0.024362 deg/s,
      cmd heading: 354.078946 deg,
      new cmd heading: 354.048705 deg.

2025-08-21T07:14:02.561Z,1755760442.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179316 target range: 181.070175 and range: 182.10 m.
2025-08-21T07:14:02.698Z,1755760442.698 [DAT](INFO): DAT read: 07:14:00.8086 LVL= 28624, 29137, 22290, 27859, AGC= 65, IDX= 318, 0.02, 1.819, 0.705, 3.008, 2.174, PHS=-0.252,-1.424, 0.790, RAW= 178.1,   9.3, CAL= 177.9,  10.3, ROT= 332.1, -10.3

2025-08-21T07:14:02.699Z,1755760442.699 [DAT](INFO): got valid direction response:
 07:14:00.8086 LVL= 28624, 29137, 22290, 27859, AGC= 65, IDX= 318, 0.02, 1.819, 0.705, 3.008, 2.174, PHS=-0.252,-1.424, 0.790, RAW= 178.1,   9.3, CAL= 177.9,  10.3, ROT= 332.1, -10.3

2025-08-21T07:14:02.704Z,1755760442.704 [DAT](INFO): DAT read: Bearing 190.3, -28.0 (Local)

2025-08-21T07:14:02.704Z,1755760442.704 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.3, -28.0 (Local)

2025-08-21T07:14:02.706Z,1755760442.706 [DAT](INFO): DAT read: Range 11 to 50 : 177.0 m  (Round-trip  236.1 ms) speed  0.4 m/s

2025-08-21T07:14:02.707Z,1755760442.707 [DAT](INFO): DAT read: user:2117>

2025-08-21T07:14:02.708Z,1755760442.708 [DAT](INFO): DAT read: Tx time:07:14:01.9184

2025-08-21T07:14:02.708Z,1755760442.708 [DAT](INFO): Ping request sent.
2025-08-21T07:14:02.708Z,1755760442.708 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:02.709Z,1755760442.709 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:02.710Z,1755760442.710 [DAT](INFO): direction in FSK: [0.869524,-0.460389,0.178802]
2025-08-21T07:14:02.710Z,1755760442.710 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:02.710Z,1755760442.710 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:02.714Z,1755760442.714 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:02.714Z,1755760442.714 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:02.969Z,1755760442.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 177.000000 m,
      deltaT: 16.134460 s,
      deltaX: -5.100006 m,
      approachRate: -0.316094 m/s,
      rangeRepo size: 4

2025-08-21T07:14:02.976Z,1755760442.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 175.997665 m,
      bearing: 2.886223 deg,
      lat: 36.779374 deg,
      lon: -121.859482 deg,
      deltaT: 16.134460 s,
      deltaX: -5.072510 m,
      approachRate: -0.314390 m/s,
      posRepo size: 4

2025-08-21T07:14:02.976Z,1755760442.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-08-21T07:14:02.979Z,1755760442.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.997665 m,
      nav range: 173.099274 m,
      bearing: 2.878416 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024362 deg/s,
      cmd heading: 354.048702 deg,
      new cmd heading: 354.018368 deg.

2025-08-21T07:14:02.984Z,1755760442.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178786 target range: 175.997665 and range: 177.00 m.
2025-08-21T07:14:03.281Z,1755760443.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-08-21T07:14:03.284Z,1755760443.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.997665 m,
      nav range: 172.944275 m,
      bearing: 2.867981 deg,
      approach rate: -0.497100 m/s,
      LOS rate: -0.033496 deg/s,
      cmd heading: 354.018376 deg,
      new cmd heading: 353.987043 deg.

2025-08-21T07:14:03.285Z,1755760443.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178239 target range: 175.997665 and range: 177.00 m.
2025-08-21T07:14:03.676Z,1755760443.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-08-21T07:14:03.678Z,1755760443.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.997665 m,
      nav range: 172.759048 m,
      bearing: 2.856656 deg,
      approach rate: -0.468590 m/s,
      LOS rate: -0.028681 deg/s,
      cmd heading: 353.987039 deg,
      new cmd heading: 353.953028 deg.

2025-08-21T07:14:03.704Z,1755760443.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177646 target range: 175.997665 and range: 177.00 m.
2025-08-21T07:14:04.113Z,1755760444.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-08-21T07:14:04.117Z,1755760444.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.997665 m,
      nav range: 172.541046 m,
      bearing: 2.843431 deg,
      approach rate: -0.499101 m/s,
      LOS rate: -0.030315 deg/s,
      cmd heading: 353.953025 deg,
      new cmd heading: 353.913301 deg.

2025-08-21T07:14:04.118Z,1755760444.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.176952 target range: 175.997665 and range: 177.00 m.
2025-08-21T07:14:04.540Z,1755760444.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-08-21T07:14:04.543Z,1755760444.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.997665 m,
      nav range: 172.329865 m,
      bearing: 2.831935 deg,
      approach rate: -0.493854 m/s,
      LOS rate: -0.026916 deg/s,
      cmd heading: 353.913301 deg,
      new cmd heading: 353.878771 deg.

2025-08-21T07:14:04.548Z,1755760444.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.176350 target range: 175.997665 and range: 177.00 m.
2025-08-21T07:14:04.933Z,1755760444.933 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:04.935Z,1755760444.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-08-21T07:14:04.938Z,1755760444.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.997665 m,
      nav range: 172.127106 m,
      bearing: 2.823334 deg,
      approach rate: -0.513868 m/s,
      LOS rate: -0.021824 deg/s,
      cmd heading: 353.878767 deg,
      new cmd heading: 353.852934 deg.

2025-08-21T07:14:04.939Z,1755760444.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175899 target range: 175.997665 and range: 177.00 m.
2025-08-21T07:14:04.960Z,1755760444.960 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:14:04.960Z,1755760444.960 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:14:04.960Z,1755760444.960 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:05.213Z,1755760445.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504869
2025-08-21T07:14:05.291Z,1755760445.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-08-21T07:14:05.293Z,1755760445.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.997665 m,
      nav range: 171.946182 m,
      bearing: 2.816746 deg,
      approach rate: -0.508438 m/s,
      LOS rate: -0.018533 deg/s,
      cmd heading: 353.852922 deg,
      new cmd heading: 353.833137 deg.

2025-08-21T07:14:05.294Z,1755760445.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175553 target range: 175.997665 and range: 177.00 m.
2025-08-21T07:14:05.464Z,1755760445.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755656
2025-08-21T07:14:05.700Z,1755760445.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-08-21T07:14:05.702Z,1755760445.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.997665 m,
      nav range: 171.737839 m,
      bearing: 2.810392 deg,
      approach rate: -0.509160 m/s,
      LOS rate: -0.015547 deg/s,
      cmd heading: 353.833141 deg,
      new cmd heading: 353.814056 deg.

2025-08-21T07:14:05.703Z,1755760445.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175220 target range: 175.997665 and range: 177.00 m.
2025-08-21T07:14:05.716Z,1755760445.716 [DAT](INFO): DAT read: Rx Time:07:14:04.5563

2025-08-21T07:14:05.717Z,1755760445.717 [DAT](INFO): Rx dataTimestamp_ set to:1755760445.716665
2025-08-21T07:14:05.717Z,1755760445.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008972
2025-08-21T07:14:05.968Z,1755760445.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259781
2025-08-21T07:14:06.144Z,1755760446.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.00 m.
2025-08-21T07:14:06.149Z,1755760446.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 175.997665 m,
      nav range: 171.523163 m,
      bearing: 2.806085 deg,
      approach rate: -0.488633 m/s,
      LOS rate: -0.009816 deg/s,
      cmd heading: 353.814044 deg,
      new cmd heading: 353.801106 deg.

2025-08-21T07:14:06.150Z,1755760446.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174994 target range: 175.997665 and range: 177.00 m.
2025-08-21T07:14:06.225Z,1755760446.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514595
2025-08-21T07:14:06.478Z,1755760446.478 [DAT](INFO): DAT read: 07:14:04.5563 LVL= 30896, 32753, 29138, 32755, AGC= 68, IDX= 422,-0.20,-1.261,-2.656,-0.535,-1.200, PHS= 0.041,-1.412, 0.620, RAW= 166.1,   8.3, CAL= 165.8,   8.6, ROT= 344.2,  -8.6

2025-08-21T07:14:06.479Z,1755760446.479 [DAT](INFO): got valid direction response:
 07:14:04.5563 LVL= 30896, 32753, 29138, 32755, AGC= 68, IDX= 422,-0.20,-1.261,-2.656,-0.535,-1.200, PHS= 0.041,-1.412, 0.620, RAW= 166.1,   8.3, CAL= 165.8,   8.6, ROT= 344.2,  -8.6

2025-08-21T07:14:06.480Z,1755760446.480 [DAT](INFO): DAT read: Bearing 178.3, -15.3 (Local)

2025-08-21T07:14:06.480Z,1755760446.480 [DAT](INFO): Local bearing/azimuth received:
 Bearing 178.3, -15.3 (Local)

2025-08-21T07:14:06.482Z,1755760446.482 [DAT](INFO): DAT read: Range 11 to 50 : 175.2 m  (Round-trip  233.7 ms) speed  0.1 m/s

2025-08-21T07:14:06.482Z,1755760446.482 [DAT](INFO): DAT read: user:2118>

2025-08-21T07:14:06.496Z,1755760446.496 [DAT](INFO): DAT read: Tx time:07:14:05.6700

2025-08-21T07:14:06.497Z,1755760446.497 [DAT](INFO): Ping request sent.
2025-08-21T07:14:06.497Z,1755760446.497 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:06.497Z,1755760446.497 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:06.507Z,1755760446.507 [DAT](INFO): direction in FSK: [0.951399,-0.269219,0.149535]
2025-08-21T07:14:06.508Z,1755760446.508 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:06.508Z,1755760446.508 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:06.529Z,1755760446.529 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:06.530Z,1755760446.530 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:06.628Z,1755760446.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 175.199997 m,
      deltaT: 3.780056 s,
      deltaX: -1.800003 m,
      approachRate: -0.476184 m/s,
      rangeRepo size: 4

2025-08-21T07:14:06.630Z,1755760446.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 174.207932 m,
      bearing: 5.663760 deg,
      lat: 36.779374 deg,
      lon: -121.859482 deg,
      deltaT: 3.780056 s,
      deltaX: -1.789734 m,
      approachRate: -0.473468 m/s,
      posRepo size: 4

2025-08-21T07:14:06.631Z,1755760446.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.21 m.
2025-08-21T07:14:06.637Z,1755760446.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.207932 m,
      nav range: 171.294525 m,
      bearing: 2.802837 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009816 deg/s,
      cmd heading: 353.801094 deg,
      new cmd heading: 353.787097 deg.

2025-08-21T07:14:06.638Z,1755760446.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174750 target range: 174.207932 and range: 175.20 m.
2025-08-21T07:14:07.005Z,1755760447.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:07.008Z,1755760447.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.21 m.
2025-08-21T07:14:07.013Z,1755760447.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.207932 m,
      nav range: 171.078781 m,
      bearing: 2.799706 deg,
      approach rate: -0.549170 m/s,
      LOS rate: -0.007980 deg/s,
      cmd heading: 353.787106 deg,
      new cmd heading: 353.777701 deg.

2025-08-21T07:14:07.032Z,1755760447.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174586 target range: 174.207932 and range: 175.20 m.
2025-08-21T07:14:07.228Z,1755760447.228 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:14:07.228Z,1755760447.228 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:14:07.228Z,1755760447.228 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:07.366Z,1755760447.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.21 m.
2025-08-21T07:14:07.369Z,1755760447.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.207932 m,
      nav range: 170.887863 m,
      bearing: 2.798073 deg,
      approach rate: -0.531974 m/s,
      LOS rate: -0.004554 deg/s,
      cmd heading: 353.777708 deg,
      new cmd heading: 353.772805 deg.

2025-08-21T07:14:07.370Z,1755760447.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174500 target range: 174.207932 and range: 175.20 m.
2025-08-21T07:14:07.481Z,1755760447.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984209
2025-08-21T07:14:07.732Z,1755760447.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235583
2025-08-21T07:14:07.782Z,1755760447.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.21 m.
2025-08-21T07:14:07.785Z,1755760447.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.207932 m,
      nav range: 170.671127 m,
      bearing: 2.797531 deg,
      approach rate: -0.521427 m/s,
      LOS rate: -0.001306 deg/s,
      cmd heading: 353.772817 deg,
      new cmd heading: 353.771188 deg.

2025-08-21T07:14:07.786Z,1755760447.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174472 target range: 174.207932 and range: 175.20 m.
2025-08-21T07:14:07.986Z,1755760447.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489602
2025-08-21T07:14:08.236Z,1755760448.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739677
2025-08-21T07:14:08.268Z,1755760448.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.21 m.
2025-08-21T07:14:08.271Z,1755760448.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.207932 m,
      nav range: 170.418411 m,
      bearing: 2.797015 deg,
      approach rate: -0.519556 m/s,
      LOS rate: -0.001062 deg/s,
      cmd heading: 353.771178 deg,
      new cmd heading: 353.769628 deg.

2025-08-21T07:14:08.276Z,1755760448.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174445 target range: 174.207932 and range: 175.20 m.
2025-08-21T07:14:08.489Z,1755760448.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992208
2025-08-21T07:14:08.617Z,1755760448.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.21 m.
2025-08-21T07:14:08.636Z,1755760448.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.207932 m,
      nav range: 170.221924 m,
      bearing: 2.798965 deg,
      approach rate: -0.563773 m/s,
      LOS rate: 0.005601 deg/s,
      cmd heading: 353.769621 deg,
      new cmd heading: 353.775477 deg.

2025-08-21T07:14:08.637Z,1755760448.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174547 target range: 174.207932 and range: 175.20 m.
2025-08-21T07:14:08.741Z,1755760448.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243495
2025-08-21T07:14:08.994Z,1755760448.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497380
2025-08-21T07:14:09.079Z,1755760449.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:09.085Z,1755760449.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.21 m.
2025-08-21T07:14:09.092Z,1755760449.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.207932 m,
      nav range: 169.983032 m,
      bearing: 2.803595 deg,
      approach rate: -0.510116 m/s,
      LOS rate: 0.009902 deg/s,
      cmd heading: 353.775467 deg,
      new cmd heading: 353.789378 deg.

2025-08-21T07:14:09.093Z,1755760449.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174789 target range: 174.207932 and range: 175.20 m.
2025-08-21T07:14:09.244Z,1755760449.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747504
2025-08-21T07:14:09.427Z,1755760449.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.21 m.
2025-08-21T07:14:09.430Z,1755760449.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.207932 m,
      nav range: 169.786865 m,
      bearing: 2.808602 deg,
      approach rate: -0.573479 m/s,
      LOS rate: 0.014654 deg/s,
      cmd heading: 353.789374 deg,
      new cmd heading: 353.804411 deg.

2025-08-21T07:14:09.447Z,1755760449.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175052 target range: 174.207932 and range: 175.20 m.
2025-08-21T07:14:09.498Z,1755760449.498 [DAT](INFO): DAT read: Rx Time:07:14:08.3052

2025-08-21T07:14:09.499Z,1755760449.499 [DAT](INFO): Rx dataTimestamp_ set to:1755760449.498242
2025-08-21T07:14:09.500Z,1755760449.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003310
2025-08-21T07:14:09.748Z,1755760449.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251523
2025-08-21T07:14:10.029Z,1755760450.029 [DAT](INFO): DAT read: 07:14:08.3052 LVL= 29824, 32753, 23250, 32755, AGC= 69, IDX= 411, 0.43, 2.258, 0.642, 2.622, 2.083, PHS= 0.277,-1.396, 0.496, RAW= 156.1,   7.0, CAL= 155.5,   7.1, ROT= 354.5,  -7.1

2025-08-21T07:14:10.030Z,1755760450.030 [DAT](INFO): got valid direction response:
 07:14:08.3052 LVL= 29824, 32753, 23250, 32755, AGC= 69, IDX= 411, 0.43, 2.258, 0.642, 2.622, 2.083, PHS= 0.277,-1.396, 0.496, RAW= 156.1,   7.0, CAL= 155.5,   7.1, ROT= 354.5,  -7.1

2025-08-21T07:14:10.039Z,1755760450.039 [DAT](INFO): DAT read: Bearing 167.8,  -4.6 (Local)

2025-08-21T07:14:10.040Z,1755760450.040 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.8,  -4.6 (Local)

2025-08-21T07:14:10.041Z,1755760450.041 [DAT](INFO): DAT read: Range 11 to 50 : 173.3 m  (Round-trip  231.1 ms) speed  0.4 m/s

2025-08-21T07:14:10.042Z,1755760450.042 [DAT](INFO): DAT read: user:2119>

2025-08-21T07:14:10.043Z,1755760450.043 [DAT](INFO): DAT read: Tx time:07:14:09.4184

2025-08-21T07:14:10.050Z,1755760450.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.21 m.
2025-08-21T07:14:10.052Z,1755760450.052 [DAT](INFO): Ping request sent.
2025-08-21T07:14:10.052Z,1755760450.052 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:10.052Z,1755760450.052 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:10.053Z,1755760450.053 [DAT](INFO): direction in FSK: [0.987763,-0.095111,0.123601]
2025-08-21T07:14:10.053Z,1755760450.053 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:10.054Z,1755760450.054 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:10.069Z,1755760450.069 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:10.069Z,1755760450.069 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:10.077Z,1755760450.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 174.207932 m,
      nav range: 169.477905 m,
      bearing: 2.818439 deg,
      approach rate: -0.504603 m/s,
      LOS rate: 0.016095 deg/s,
      cmd heading: 353.804400 deg,
      new cmd heading: 353.833964 deg.

2025-08-21T07:14:10.078Z,1755760450.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175568 target range: 174.207932 and range: 175.20 m.
2025-08-21T07:14:10.576Z,1755760450.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 173.300003 m,
      deltaT: 3.529847 s,
      deltaX: -1.899994 m,
      approachRate: -0.538265 m/s,
      rangeRepo size: 4

2025-08-21T07:14:10.578Z,1755760450.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 172.318298 m,
      bearing: 5.677686 deg,
      lat: 36.779374 deg,
      lon: -121.859386 deg,
      deltaT: 3.529847 s,
      deltaX: -1.889633 m,
      approachRate: -0.535330 m/s,
      posRepo size: 4

2025-08-21T07:14:10.579Z,1755760450.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.32 m.
2025-08-21T07:14:10.605Z,1755760450.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.318298 m,
      nav range: 169.793869 m,
      bearing: 5.698353 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.016095 deg/s,
      cmd heading: 353.833961 deg,
      new cmd heading: 353.859832 deg.

2025-08-21T07:14:10.606Z,1755760450.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.176019 target range: 172.318298 and range: 173.30 m.
2025-08-21T07:14:11.101Z,1755760451.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:11.103Z,1755760451.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.32 m.
2025-08-21T07:14:11.106Z,1755760451.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.318298 m,
      nav range: 169.513870 m,
      bearing: 5.718539 deg,
      approach rate: -0.530665 m/s,
      LOS rate: 0.038321 deg/s,
      cmd heading: 353.859834 deg,
      new cmd heading: 353.920493 deg.

2025-08-21T07:14:11.107Z,1755760451.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177078 target range: 172.318298 and range: 173.30 m.
2025-08-21T07:14:11.260Z,1755760451.260 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:14:11.261Z,1755760451.261 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:14:11.261Z,1755760451.261 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:11.469Z,1755760451.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.32 m.
2025-08-21T07:14:11.473Z,1755760451.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.318298 m,
      nav range: 169.330887 m,
      bearing: 5.732895 deg,
      approach rate: -0.499365 m/s,
      LOS rate: 0.039219 deg/s,
      cmd heading: 353.920486 deg,
      new cmd heading: 353.963599 deg.

2025-08-21T07:14:11.477Z,1755760451.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177830 target range: 172.318298 and range: 173.30 m.
2025-08-21T07:14:11.512Z,1755760451.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.469339
2025-08-21T07:14:11.764Z,1755760451.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721324
2025-08-21T07:14:11.891Z,1755760451.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.32 m.
2025-08-21T07:14:11.894Z,1755760451.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.318298 m,
      nav range: 169.100342 m,
      bearing: 5.752367 deg,
      approach rate: -0.546742 m/s,
      LOS rate: 0.046242 deg/s,
      cmd heading: 353.963598 deg,
      new cmd heading: 354.022095 deg.

2025-08-21T07:14:11.895Z,1755760451.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.178851 target range: 172.318298 and range: 173.30 m.
2025-08-21T07:14:12.016Z,1755760452.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973399
2025-08-21T07:14:12.268Z,1755760452.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225175
2025-08-21T07:14:12.298Z,1755760452.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.32 m.
2025-08-21T07:14:12.301Z,1755760452.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.318298 m,
      nav range: 168.885010 m,
      bearing: 5.771166 deg,
      approach rate: -0.529365 m/s,
      LOS rate: 0.046273 deg/s,
      cmd heading: 354.022092 deg,
      new cmd heading: 354.078560 deg.

2025-08-21T07:14:12.302Z,1755760452.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179837 target range: 172.318298 and range: 173.30 m.
2025-08-21T07:14:12.520Z,1755760452.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477394
2025-08-21T07:14:12.683Z,1755760452.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.32 m.
2025-08-21T07:14:12.685Z,1755760452.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.318298 m,
      nav range: 168.680374 m,
      bearing: 5.789075 deg,
      approach rate: -0.531658 m/s,
      LOS rate: 0.046586 deg/s,
      cmd heading: 354.078564 deg,
      new cmd heading: 354.132357 deg.

2025-08-21T07:14:12.686Z,1755760452.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180776 target range: 172.318298 and range: 173.30 m.
2025-08-21T07:14:12.772Z,1755760452.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.729278
2025-08-21T07:14:13.025Z,1755760453.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981438
2025-08-21T07:14:13.106Z,1755760453.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:13.124Z,1755760453.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.32 m.
2025-08-21T07:14:13.131Z,1755760453.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.318298 m,
      nav range: 168.450714 m,
      bearing: 5.815005 deg,
      approach rate: -0.519872 m/s,
      LOS rate: 0.058778 deg/s,
      cmd heading: 354.132358 deg,
      new cmd heading: 354.210256 deg.

2025-08-21T07:14:13.132Z,1755760453.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182135 target range: 172.318298 and range: 173.30 m.
2025-08-21T07:14:13.277Z,1755760453.277 [DAT](INFO): DAT read: Rx Time:07:14:12.0508

2025-08-21T07:14:13.277Z,1755760453.277 [DAT](INFO): Rx dataTimestamp_ set to:1755760453.276715
2025-08-21T07:14:13.278Z,1755760453.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234467
2025-08-21T07:14:13.520Z,1755760453.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 172.32 m.
2025-08-21T07:14:13.523Z,1755760453.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 172.318298 m,
      nav range: 168.228668 m,
      bearing: 5.841670 deg,
      approach rate: -0.561187 m/s,
      LOS rate: 0.067481 deg/s,
      cmd heading: 354.210250 deg,
      new cmd heading: 354.290351 deg.

2025-08-21T07:14:13.524Z,1755760453.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183533 target range: 172.318298 and range: 173.30 m.
2025-08-21T07:14:13.528Z,1755760453.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485298
2025-08-21T07:14:13.787Z,1755760453.787 [DAT](INFO): DAT read: 07:14:12.0508 LVL= 31568, 32753, 32754, 32755, AGC= 72, IDX= 416,-0.30, 1.452,-0.383, 1.466, 1.124, PHS= 0.430,-1.462, 0.299, RAW= 146.4,   8.1, CAL= 146.0,   8.7, ROT=   4.0,  -8.7

2025-08-21T07:14:13.788Z,1755760453.788 [DAT](INFO): got valid direction response:
 07:14:12.0508 LVL= 31568, 32753, 32754, 32755, AGC= 72, IDX= 416,-0.30, 1.452,-0.383, 1.466, 1.124, PHS= 0.430,-1.462, 0.299, RAW= 146.4,   8.1, CAL= 146.0,   8.7, ROT=   4.0,  -8.7

2025-08-21T07:14:13.789Z,1755760453.789 [DAT](INFO): DAT read: Bearing 161.2,   5.2 (Local)

2025-08-21T07:14:13.789Z,1755760453.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.2,   5.2 (Local)

2025-08-21T07:14:13.791Z,1755760453.791 [DAT](INFO): DAT read: Range 11 to 50 : 171.3 m  (Round-trip  228.4 ms) speed  0.3 m/s

2025-08-21T07:14:13.791Z,1755760453.791 [DAT](INFO): DAT read: user:2120>

2025-08-21T07:14:13.792Z,1755760453.792 [DAT](INFO): DAT read: Tx time:07:14:13.1683

2025-08-21T07:14:13.792Z,1755760453.792 [DAT](INFO): Ping request sent.
2025-08-21T07:14:13.793Z,1755760453.793 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:13.793Z,1755760453.793 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:13.794Z,1755760453.794 [DAT](INFO): direction in FSK: [0.986086,0.068954,0.151261]
2025-08-21T07:14:13.794Z,1755760453.794 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:13.794Z,1755760453.794 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:13.798Z,1755760453.798 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:13.798Z,1755760453.798 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:13.938Z,1755760453.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 171.300003 m,
      deltaT: 3.778889 s,
      deltaX: -2.000000 m,
      approachRate: -0.529256 m/s,
      rangeRepo size: 4

2025-08-21T07:14:13.945Z,1755760453.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 170.330811 m,
      bearing: 7.232588 deg,
      lat: 36.779371 deg,
      lon: -121.859385 deg,
      deltaT: 3.778889 s,
      deltaX: -1.987488 m,
      approachRate: -0.525945 m/s,
      posRepo size: 4

2025-08-21T07:14:13.947Z,1755760453.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.33 m.
2025-08-21T07:14:13.961Z,1755760453.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.330811 m,
      nav range: 167.732666 m,
      bearing: 5.899389 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.067481 deg/s,
      cmd heading: 354.290354 deg,
      new cmd heading: 354.374905 deg.

2025-08-21T07:14:13.962Z,1755760453.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.185009 target range: 170.330811 and range: 171.30 m.
2025-08-21T07:14:14.332Z,1755760454.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.33 m.
2025-08-21T07:14:14.335Z,1755760454.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.330811 m,
      nav range: 167.520462 m,
      bearing: 5.928488 deg,
      approach rate: -0.537882 m/s,
      LOS rate: 0.073850 deg/s,
      cmd heading: 354.374912 deg,
      new cmd heading: 354.462317 deg.

2025-08-21T07:14:14.344Z,1755760454.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186534 target range: 170.330811 and range: 171.30 m.
2025-08-21T07:14:14.731Z,1755760454.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.33 m.
2025-08-21T07:14:14.734Z,1755760454.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.330811 m,
      nav range: 167.322952 m,
      bearing: 5.955642 deg,
      approach rate: -0.495499 m/s,
      LOS rate: 0.068204 deg/s,
      cmd heading: 354.462311 deg,
      new cmd heading: 354.543871 deg.

2025-08-21T07:14:14.735Z,1755760454.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187958 target range: 170.330811 and range: 171.30 m.
2025-08-21T07:14:15.125Z,1755760455.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:15.128Z,1755760455.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.33 m.
2025-08-21T07:14:15.130Z,1755760455.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.330811 m,
      nav range: 167.108994 m,
      bearing: 5.987643 deg,
      approach rate: -0.539495 m/s,
      LOS rate: 0.080793 deg/s,
      cmd heading: 354.543864 deg,
      new cmd heading: 354.639988 deg.

2025-08-21T07:14:15.153Z,1755760455.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.189635 target range: 170.330811 and range: 171.30 m.
2025-08-21T07:14:15.292Z,1755760455.292 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:14:15.292Z,1755760455.292 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:14:15.293Z,1755760455.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:15.529Z,1755760455.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.33 m.
2025-08-21T07:14:15.532Z,1755760455.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.330811 m,
      nav range: 166.908890 m,
      bearing: 6.018963 deg,
      approach rate: -0.498228 m/s,
      LOS rate: 0.078075 deg/s,
      cmd heading: 354.639978 deg,
      new cmd heading: 354.734050 deg.

2025-08-21T07:14:15.533Z,1755760455.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.191277 target range: 170.330811 and range: 171.30 m.
2025-08-21T07:14:15.544Z,1755760455.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751709
2025-08-21T07:14:15.797Z,1755760455.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004268
2025-08-21T07:14:15.937Z,1755760455.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.33 m.
2025-08-21T07:14:15.940Z,1755760455.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.330811 m,
      nav range: 166.696732 m,
      bearing: 6.052261 deg,
      approach rate: -0.520152 m/s,
      LOS rate: 0.081741 deg/s,
      cmd heading: 354.734043 deg,
      new cmd heading: 354.834064 deg.

2025-08-21T07:14:15.941Z,1755760455.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193023 target range: 170.330811 and range: 171.30 m.
2025-08-21T07:14:16.051Z,1755760456.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257419
2025-08-21T07:14:16.300Z,1755760456.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507665
2025-08-21T07:14:16.361Z,1755760456.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.33 m.
2025-08-21T07:14:16.368Z,1755760456.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.330811 m,
      nav range: 166.483383 m,
      bearing: 6.086489 deg,
      approach rate: -0.503377 m/s,
      LOS rate: 0.080861 deg/s,
      cmd heading: 354.834065 deg,
      new cmd heading: 354.936880 deg.

2025-08-21T07:14:16.369Z,1755760456.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194817 target range: 170.330811 and range: 171.30 m.
2025-08-21T07:14:16.554Z,1755760456.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760974
2025-08-21T07:14:16.728Z,1755760456.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.33 m.
2025-08-21T07:14:16.730Z,1755760456.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.330811 m,
      nav range: 166.283035 m,
      bearing: 6.119829 deg,
      approach rate: -0.565657 m/s,
      LOS rate: 0.094247 deg/s,
      cmd heading: 354.936873 deg,
      new cmd heading: 355.037015 deg.

2025-08-21T07:14:16.735Z,1755760456.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196565 target range: 170.330811 and range: 171.30 m.
2025-08-21T07:14:16.805Z,1755760456.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012331
2025-08-21T07:14:17.067Z,1755760457.067 [DAT](INFO): DAT read: Rx Time:07:14:15.7982

2025-08-21T07:14:17.067Z,1755760457.067 [DAT](INFO): Rx dataTimestamp_ set to:1755760457.066689
2025-08-21T07:14:17.068Z,1755760457.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275050
2025-08-21T07:14:17.195Z,1755760457.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:17.197Z,1755760457.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.33 m.
2025-08-21T07:14:17.200Z,1755760457.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.330811 m,
      nav range: 166.031830 m,
      bearing: 6.163149 deg,
      approach rate: -0.520732 m/s,
      LOS rate: 0.089934 deg/s,
      cmd heading: 355.037003 deg,
      new cmd heading: 355.167158 deg.

2025-08-21T07:14:17.201Z,1755760457.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.198836 target range: 170.330811 and range: 171.30 m.
2025-08-21T07:14:17.309Z,1755760457.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516477
2025-08-21T07:14:17.545Z,1755760457.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.33 m.
2025-08-21T07:14:17.548Z,1755760457.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 170.330811 m,
      nav range: 165.851273 m,
      bearing: 6.195163 deg,
      approach rate: -0.518916 m/s,
      LOS rate: 0.092109 deg/s,
      cmd heading: 355.167159 deg,
      new cmd heading: 355.263308 deg.

2025-08-21T07:14:17.552Z,1755760457.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200514 target range: 170.330811 and range: 171.30 m.
2025-08-21T07:14:17.566Z,1755760457.566 [DAT](INFO): DAT read: 07:14:15.7982 LVL= 30784, 32753, 32754, 32755, AGC= 68, IDX= 420, 0.09,-1.632, 2.734,-1.912,-2.021, PHS= 0.491,-1.483, 0.066, RAW= 138.2,  10.3, CAL= 137.7,  11.3, ROT=  12.3, -11.3

2025-08-21T07:14:17.567Z,1755760457.567 [DAT](INFO): got valid direction response:
 07:14:15.7982 LVL= 30784, 32753, 32754, 32755, AGC= 68, IDX= 420, 0.09,-1.632, 2.734,-1.912,-2.021, PHS= 0.491,-1.483, 0.066, RAW= 138.2,  10.3, CAL= 137.7,  11.3, ROT=  12.3, -11.3

2025-08-21T07:14:17.568Z,1755760457.568 [DAT](INFO): DAT read: Bearing 156.9,  13.7 (Local)

2025-08-21T07:14:17.568Z,1755760457.568 [DAT](INFO): Local bearing/azimuth received:
 Bearing 156.9,  13.7 (Local)

2025-08-21T07:14:17.570Z,1755760457.570 [DAT](INFO): DAT read: Range 11 to 50 : 169.2 m  (Round-trip  225.7 ms) speed  0.4 m/s

2025-08-21T07:14:17.571Z,1755760457.571 [DAT](INFO): DAT read: user:2121>

2025-08-21T07:14:17.571Z,1755760457.571 [DAT](INFO): DAT read: Tx time:07:14:16.9183

2025-08-21T07:14:17.572Z,1755760457.572 [DAT](INFO): Ping request sent.
2025-08-21T07:14:17.572Z,1755760457.572 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:17.572Z,1755760457.572 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:17.573Z,1755760457.573 [DAT](INFO): direction in FSK: [0.958105,0.208901,0.195946]
2025-08-21T07:14:17.573Z,1755760457.573 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:17.574Z,1755760457.574 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:17.577Z,1755760457.577 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:17.577Z,1755760457.577 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:17.973Z,1755760457.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 169.199997 m,
      deltaT: 3.779199 s,
      deltaX: -2.100006 m,
      approachRate: -0.555675 m/s,
      rangeRepo size: 4

2025-08-21T07:14:17.981Z,1755760457.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 168.245987 m,
      bearing: 7.225494 deg,
      lat: 36.779369 deg,
      lon: -121.859385 deg,
      deltaT: 3.779199 s,
      deltaX: -2.084824 m,
      approachRate: -0.551658 m/s,
      posRepo size: 4

2025-08-21T07:14:17.982Z,1755760457.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:17.991Z,1755760457.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 165.478119 m,
      bearing: 6.237995 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.092109 deg/s,
      cmd heading: 355.263301 deg,
      new cmd heading: 355.379868 deg.

2025-08-21T07:14:17.996Z,1755760457.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202549 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:18.362Z,1755760458.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:18.365Z,1755760458.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 165.253601 m,
      bearing: 6.278239 deg,
      approach rate: -0.568909 m/s,
      LOS rate: 0.102112 deg/s,
      cmd heading: 355.379879 deg,
      new cmd heading: 355.500773 deg.

2025-08-21T07:14:18.366Z,1755760458.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.204659 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:18.735Z,1755760458.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:18.737Z,1755760458.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 165.054230 m,
      bearing: 6.314611 deg,
      approach rate: -0.534945 m/s,
      LOS rate: 0.097710 deg/s,
      cmd heading: 355.500773 deg,
      new cmd heading: 355.610021 deg.

2025-08-21T07:14:18.738Z,1755760458.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.206566 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:19.200Z,1755760459.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:19.202Z,1755760459.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:19.205Z,1755760459.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 164.803650 m,
      bearing: 6.357957 deg,
      approach rate: -0.536205 m/s,
      LOS rate: 0.092894 deg/s,
      cmd heading: 355.610029 deg,
      new cmd heading: 355.740263 deg.

2025-08-21T07:14:19.206Z,1755760459.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208839 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:19.324Z,1755760459.324 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:14:19.324Z,1755760459.324 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:14:19.324Z,1755760459.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:19.574Z,1755760459.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:19.576Z,1755760459.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004544
2025-08-21T07:14:19.578Z,1755760459.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 164.603806 m,
      bearing: 6.392631 deg,
      approach rate: -0.537512 m/s,
      LOS rate: 0.093376 deg/s,
      cmd heading: 355.740267 deg,
      new cmd heading: 355.844417 deg.

2025-08-21T07:14:19.579Z,1755760459.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210657 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:19.828Z,1755760459.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256281
2025-08-21T07:14:19.982Z,1755760459.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:19.986Z,1755760459.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 164.390884 m,
      bearing: 6.429678 deg,
      approach rate: -0.521924 m/s,
      LOS rate: 0.090930 deg/s,
      cmd heading: 355.844414 deg,
      new cmd heading: 355.955699 deg.

2025-08-21T07:14:20.008Z,1755760460.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212599 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:20.084Z,1755760460.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511909
2025-08-21T07:14:20.332Z,1755760460.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760364
2025-08-21T07:14:20.410Z,1755760460.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:20.412Z,1755760460.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 164.150131 m,
      bearing: 6.471270 deg,
      approach rate: -0.562473 m/s,
      LOS rate: 0.097312 deg/s,
      cmd heading: 355.955691 deg,
      new cmd heading: 356.080647 deg.

2025-08-21T07:14:20.413Z,1755760460.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214780 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:20.585Z,1755760460.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013073
2025-08-21T07:14:20.836Z,1755760460.836 [DAT](INFO): DAT read: Rx Time:07:14:19.5765

2025-08-21T07:14:20.837Z,1755760460.837 [DAT](INFO): Rx dataTimestamp_ set to:1755760460.836545
2025-08-21T07:14:20.837Z,1755760460.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265532
2025-08-21T07:14:20.846Z,1755760460.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:20.849Z,1755760460.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 163.912750 m,
      bearing: 6.512408 deg,
      approach rate: -0.544132 m/s,
      LOS rate: 0.094435 deg/s,
      cmd heading: 356.080656 deg,
      new cmd heading: 356.204249 deg.

2025-08-21T07:14:20.850Z,1755760460.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216937 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:21.091Z,1755760461.091 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518351
2025-08-21T07:14:21.315Z,1755760461.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:21.317Z,1755760461.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:21.320Z,1755760461.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 163.642746 m,
      bearing: 6.558810 deg,
      approach rate: -0.572861 m/s,
      LOS rate: 0.098613 deg/s,
      cmd heading: 356.204255 deg,
      new cmd heading: 356.343691 deg.

2025-08-21T07:14:21.321Z,1755760461.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219371 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:21.354Z,1755760461.354 [DAT](INFO): DAT read: 07:14:19.5765 LVL= 28336, 32753, 32754, 32755, AGC= 70, IDX= 214, 0.05,-1.984, 2.456,-2.325,-2.411, PHS= 0.530,-1.371, 0.042, RAW= 135.7,   9.4, CAL= 135.4,  10.4, ROT=  14.6, -10.4

2025-08-21T07:14:21.355Z,1755760461.355 [DAT](INFO): got valid direction response:
 07:14:19.5765 LVL= 28336, 32753, 32754, 32755, AGC= 70, IDX= 214, 0.05,-1.984, 2.456,-2.325,-2.411, PHS= 0.530,-1.371, 0.042, RAW= 135.7,   9.4, CAL= 135.4,  10.4, ROT=  14.6, -10.4

2025-08-21T07:14:21.356Z,1755760461.356 [DAT](INFO): DAT read: Bearing 153.8,  17.0 (Local)

2025-08-21T07:14:21.356Z,1755760461.356 [DAT](INFO): Local bearing/azimuth received:
 Bearing 153.8,  17.0 (Local)

2025-08-21T07:14:21.358Z,1755760461.358 [DAT](INFO): DAT read: Range 11 to 50 : 190.5 m  (Round-trip  254.1 ms) speed  0.6 m/s

2025-08-21T07:14:21.359Z,1755760461.359 [DAT](INFO): DAT read: user:2122>

2025-08-21T07:14:21.372Z,1755760461.372 [DAT](INFO): DAT read: Tx time:07:14:20.6683

2025-08-21T07:14:21.373Z,1755760461.373 [DAT](INFO): Ping request sent.
2025-08-21T07:14:21.373Z,1755760461.373 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:21.373Z,1755760461.373 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:21.374Z,1755760461.374 [DAT](INFO): direction in FSK: [0.951811,0.247928,0.180519]
2025-08-21T07:14:21.374Z,1755760461.374 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:21.374Z,1755760461.374 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:21.378Z,1755760461.378 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:21.378Z,1755760461.378 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:21.723Z,1755760461.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 190.500000 m,
 deltaT: 3.780038 s,
 deltaX: 21.300003 m,
 approachRate: 5.634865 m/s,
 rangeRepo size: 4
2025-08-21T07:14:21.724Z,1755760461.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:21.726Z,1755760461.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 163.430786 m,
      bearing: 6.595249 deg,
      approach rate: -0.523079 m/s,
      LOS rate: 0.090042 deg/s,
      cmd heading: 356.343700 deg,
      new cmd heading: 356.453160 deg.

2025-08-21T07:14:21.727Z,1755760461.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.221281 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:22.172Z,1755760462.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:22.180Z,1755760462.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 163.198105 m,
      bearing: 6.635158 deg,
      approach rate: -0.522809 m/s,
      LOS rate: 0.089799 deg/s,
      cmd heading: 356.453147 deg,
      new cmd heading: 356.573045 deg.

2025-08-21T07:14:22.181Z,1755760462.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.223374 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:22.522Z,1755760462.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:22.525Z,1755760462.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 162.955475 m,
      bearing: 6.677680 deg,
      approach rate: -0.683669 m/s,
      LOS rate: 0.119993 deg/s,
      cmd heading: 356.573058 deg,
      new cmd heading: 356.700812 deg.

2025-08-21T07:14:22.526Z,1755760462.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.225604 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:22.915Z,1755760462.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:22.918Z,1755760462.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 162.740128 m,
      bearing: 6.715267 deg,
      approach rate: -0.571468 m/s,
      LOS rate: 0.099879 deg/s,
      cmd heading: 356.700810 deg,
      new cmd heading: 356.813722 deg.

2025-08-21T07:14:22.919Z,1755760462.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.227574 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:23.331Z,1755760463.331 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:23.333Z,1755760463.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:23.336Z,1755760463.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 162.491150 m,
      bearing: 6.759425 deg,
      approach rate: -0.573765 m/s,
      LOS rate: 0.101915 deg/s,
      cmd heading: 356.813727 deg,
      new cmd heading: 356.946401 deg.

2025-08-21T07:14:23.337Z,1755760463.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229890 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:23.356Z,1755760463.356 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:14:23.356Z,1755760463.356 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:14:23.356Z,1755760463.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:23.608Z,1755760463.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235571
2025-08-21T07:14:23.713Z,1755760463.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:23.716Z,1755760463.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 162.272537 m,
      bearing: 6.798042 deg,
      approach rate: -0.575736 m/s,
      LOS rate: 0.101838 deg/s,
      cmd heading: 356.946396 deg,
      new cmd heading: 357.062403 deg.

2025-08-21T07:14:23.717Z,1755760463.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.231915 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:23.860Z,1755760463.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487494
2025-08-21T07:14:24.112Z,1755760464.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739681
2025-08-21T07:14:24.182Z,1755760464.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:24.189Z,1755760464.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 162.040588 m,
      bearing: 6.838879 deg,
      approach rate: -0.519345 m/s,
      LOS rate: 0.091569 deg/s,
      cmd heading: 357.062400 deg,
      new cmd heading: 357.185089 deg.

2025-08-21T07:14:24.190Z,1755760464.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234056 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:24.364Z,1755760464.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991577
2025-08-21T07:14:24.572Z,1755760464.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:24.575Z,1755760464.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 161.770554 m,
      bearing: 6.884816 deg,
      approach rate: -0.654543 m/s,
      LOS rate: 0.111532 deg/s,
      cmd heading: 357.185098 deg,
      new cmd heading: 357.323137 deg.

2025-08-21T07:14:24.576Z,1755760464.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.236465 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:24.616Z,1755760464.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243822
2025-08-21T07:14:24.868Z,1755760464.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.495587
2025-08-21T07:14:24.920Z,1755760464.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:24.922Z,1755760464.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 161.564484 m,
      bearing: 6.919772 deg,
      approach rate: -0.593094 m/s,
      LOS rate: 0.100735 deg/s,
      cmd heading: 357.323150 deg,
      new cmd heading: 357.428151 deg.

2025-08-21T07:14:24.940Z,1755760464.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238298 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:25.123Z,1755760465.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749876
2025-08-21T07:14:25.354Z,1755760465.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:25.357Z,1755760465.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:25.359Z,1755760465.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 161.304062 m,
      bearing: 6.965684 deg,
      approach rate: -0.595700 m/s,
      LOS rate: 0.105191 deg/s,
      cmd heading: 357.428143 deg,
      new cmd heading: 357.566102 deg.

2025-08-21T07:14:25.360Z,1755760465.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.240706 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:25.380Z,1755760465.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.007593
2025-08-21T07:14:25.632Z,1755760465.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.259529
2025-08-21T07:14:25.824Z,1755760465.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:25.826Z,1755760465.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 161.024933 m,
      bearing: 7.014543 deg,
      approach rate: -0.598013 m/s,
      LOS rate: 0.104858 deg/s,
      cmd heading: 357.566113 deg,
      new cmd heading: 357.712943 deg.

2025-08-21T07:14:25.827Z,1755760465.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.243268 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:25.885Z,1755760465.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.512438
2025-08-21T07:14:26.138Z,1755760466.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.764898
2025-08-21T07:14:26.274Z,1755760466.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:26.276Z,1755760466.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 160.757935 m,
      bearing: 7.062234 deg,
      approach rate: -0.593152 m/s,
      LOS rate: 0.106125 deg/s,
      cmd heading: 357.712935 deg,
      new cmd heading: 357.856247 deg.

2025-08-21T07:14:26.277Z,1755760466.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245770 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:26.388Z,1755760466.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.015555
2025-08-21T07:14:26.642Z,1755760466.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.268639
2025-08-21T07:14:26.755Z,1755760466.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:26.758Z,1755760466.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 160.472260 m,
      bearing: 7.113161 deg,
      approach rate: -0.593608 m/s,
      LOS rate: 0.106011 deg/s,
      cmd heading: 357.856260 deg,
      new cmd heading: 358.009313 deg.

2025-08-21T07:14:26.762Z,1755760466.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.248441 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:26.892Z,1755760466.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.519788
2025-08-21T07:14:26.000Z,1755760467.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:14:27.146Z,1755760467.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.773614
2025-08-21T07:14:27.339Z,1755760467.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:27.342Z,1755760467.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 160.132690 m,
      bearing: 7.173161 deg,
      approach rate: -0.581598 m/s,
      LOS rate: 0.102983 deg/s,
      cmd heading: 358.009310 deg,
      new cmd heading: 358.189691 deg.

2025-08-21T07:14:27.342Z,1755760467.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.251589 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:27.398Z,1755760467.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.024818
2025-08-21T07:14:27.649Z,1755760467.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.275902
2025-08-21T07:14:27.668Z,1755760467.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:27.670Z,1755760467.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:27.673Z,1755760467.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 159.928894 m,
      bearing: 7.209106 deg,
      approach rate: -0.614353 m/s,
      LOS rate: 0.108494 deg/s,
      cmd heading: 358.189682 deg,
      new cmd heading: 358.297653 deg.

2025-08-21T07:14:27.674Z,1755760467.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253474 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:27.900Z,1755760467.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.527625
2025-08-21T07:14:28.004Z,1755760468.004 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:14:28.072Z,1755760468.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:28.074Z,1755760468.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 159.689972 m,
      bearing: 7.251151 deg,
      approach rate: -0.595207 m/s,
      LOS rate: 0.104902 deg/s,
      cmd heading: 358.297654 deg,
      new cmd heading: 358.423980 deg.

2025-08-21T07:14:28.076Z,1755760468.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255679 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:28.153Z,1755760468.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.780554
2025-08-21T07:14:28.405Z,1755760468.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.031831
2025-08-21T07:14:28.512Z,1755760468.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:28.514Z,1755760468.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 159.424500 m,
      bearing: 7.299089 deg,
      approach rate: -0.603287 m/s,
      LOS rate: 0.109121 deg/s,
      cmd heading: 358.423985 deg,
      new cmd heading: 358.568038 deg.

2025-08-21T07:14:28.516Z,1755760468.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258193 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:28.656Z,1755760468.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.283672
2025-08-21T07:14:28.880Z,1755760468.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:28.882Z,1755760468.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 159.202560 m,
      bearing: 7.339115 deg,
      approach rate: -0.603138 m/s,
      LOS rate: 0.108924 deg/s,
      cmd heading: 358.568047 deg,
      new cmd heading: 358.688291 deg.

2025-08-21T07:14:28.884Z,1755760468.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.260292 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:28.921Z,1755760468.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.548563
2025-08-21T07:14:29.173Z,1755760469.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.800118
2025-08-21T07:14:29.327Z,1755760469.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:29.333Z,1755760469.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 158.935715 m,
      bearing: 7.386952 deg,
      approach rate: -0.597263 m/s,
      LOS rate: 0.107251 deg/s,
      cmd heading: 358.688286 deg,
      new cmd heading: 358.832039 deg.

2025-08-21T07:14:29.334Z,1755760469.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262801 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:29.424Z,1755760469.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.051594
2025-08-21T07:14:29.676Z,1755760469.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.303632
2025-08-21T07:14:29.684Z,1755760469.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:29.686Z,1755760469.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:29.689Z,1755760469.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 158.712372 m,
      bearing: 7.426689 deg,
      approach rate: -0.620961 m/s,
      LOS rate: 0.110637 deg/s,
      cmd heading: 358.832048 deg,
      new cmd heading: 358.951427 deg.

2025-08-21T07:14:29.690Z,1755760469.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264884 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:29.930Z,1755760469.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557390
2025-08-21T07:14:30.100Z,1755760470.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:30.102Z,1755760470.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 158.467651 m,
      bearing: 7.470176 deg,
      approach rate: -0.591667 m/s,
      LOS rate: 0.105300 deg/s,
      cmd heading: 358.951439 deg,
      new cmd heading: 359.082099 deg.

2025-08-21T07:14:30.108Z,1755760470.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267165 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:30.181Z,1755760470.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.808509
2025-08-21T07:14:30.434Z,1755760470.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.060904
2025-08-21T07:14:30.516Z,1755760470.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:30.518Z,1755760470.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 158.207382 m,
      bearing: 7.515934 deg,
      approach rate: -0.625743 m/s,
      LOS rate: 0.110194 deg/s,
      cmd heading: 359.082087 deg,
      new cmd heading: 359.219588 deg.

2025-08-21T07:14:30.520Z,1755760470.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269565 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:30.684Z,1755760470.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.311531
2025-08-21T07:14:30.903Z,1755760470.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:30.906Z,1755760470.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 157.971558 m,
      bearing: 7.557291 deg,
      approach rate: -0.608974 m/s,
      LOS rate: 0.106956 deg/s,
      cmd heading: 359.219593 deg,
      new cmd heading: 359.343848 deg.

2025-08-21T07:14:30.907Z,1755760470.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271733 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:30.937Z,1755760470.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.564291
2025-08-21T07:14:31.188Z,1755760471.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.815531
2025-08-21T07:14:31.340Z,1755760471.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:31.342Z,1755760471.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 157.708069 m,
      bearing: 7.603219 deg,
      approach rate: -0.603158 m/s,
      LOS rate: 0.105310 deg/s,
      cmd heading: 359.343847 deg,
      new cmd heading: 359.481861 deg.

2025-08-21T07:14:31.344Z,1755760471.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274142 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:31.441Z,1755760471.441 [DAT](INFO): Reached modem response timeout
2025-08-21T07:14:31.442Z,1755760471.442 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:14:31.442Z,1755760471.442 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:31.692Z,1755760471.692 [DAT](INFO): Reached modem response timeout
2025-08-21T07:14:31.692Z,1755760471.692 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:14:31.693Z,1755760471.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:31.716Z,1755760471.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:31.718Z,1755760471.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:31.721Z,1755760471.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 157.479645 m,
      bearing: 7.642949 deg,
      approach rate: -0.604106 m/s,
      LOS rate: 0.105226 deg/s,
      cmd heading: 359.481872 deg,
      new cmd heading: 359.601235 deg.

2025-08-21T07:14:31.722Z,1755760471.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276226 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:31.945Z,1755760471.945 [DAT](INFO): Reached modem response timeout
2025-08-21T07:14:31.946Z,1755760471.946 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:14:31.946Z,1755760471.946 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:32.199Z,1755760472.199 [DAT](INFO): Reached modem response timeout
2025-08-21T07:14:32.200Z,1755760472.200 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:14:32.200Z,1755760472.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:32.305Z,1755760472.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:32.310Z,1755760472.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 157.162750 m,
      bearing: 7.697866 deg,
      approach rate: -0.546859 m/s,
      LOS rate: 0.094961 deg/s,
      cmd heading: 359.601236 deg,
      new cmd heading: 359.766320 deg.

2025-08-21T07:14:32.311Z,1755760472.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279107 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:32.454Z,1755760472.454 [DAT](INFO): Reached modem response timeout
2025-08-21T07:14:32.454Z,1755760472.454 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:14:32.455Z,1755760472.455 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:32.704Z,1755760472.704 [DAT](INFO): Reached modem response timeout
2025-08-21T07:14:32.704Z,1755760472.704 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:14:32.704Z,1755760472.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:32.806Z,1755760472.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:32.813Z,1755760472.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 156.823593 m,
      bearing: 7.757489 deg,
      approach rate: -0.667153 m/s,
      LOS rate: 0.117536 deg/s,
      cmd heading: 359.766308 deg,
      new cmd heading: 359.945562 deg.

2025-08-21T07:14:32.814Z,1755760472.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282235 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:32.956Z,1755760472.956 [DAT](INFO): Reached modem response timeout
2025-08-21T07:14:32.957Z,1755760472.957 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:14:32.957Z,1755760472.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:33.196Z,1755760473.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:33.199Z,1755760473.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 156.599869 m,
      bearing: 7.796761 deg,
      approach rate: -0.572812 m/s,
      LOS rate: 0.100694 deg/s,
      cmd heading: 359.945560 deg,
      new cmd heading: 0.063544 deg.

2025-08-21T07:14:33.200Z,1755760473.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001109 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:33.208Z,1755760473.208 [DAT](INFO): Reached modem response timeout
2025-08-21T07:14:33.208Z,1755760473.208 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:14:33.208Z,1755760473.208 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:33.460Z,1755760473.460 [DAT](INFO): Reached modem response timeout
2025-08-21T07:14:33.460Z,1755760473.460 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:14:33.460Z,1755760473.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:33.626Z,1755760473.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:33.649Z,1755760473.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 156.313324 m,
      bearing: 7.845163 deg,
      approach rate: -0.666783 m/s,
      LOS rate: 0.112837 deg/s,
      cmd heading: 0.063544 deg,
      new cmd heading: 0.209016 deg.

2025-08-21T07:14:33.650Z,1755760473.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003648 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:33.713Z,1755760473.713 [DAT](INFO): DAT read: Response Not Received

2025-08-21T07:14:33.714Z,1755760473.714 [DAT](INFO): response not received
2025-08-21T07:14:33.714Z,1755760473.714 [DAT](INFO): DAT read: user:2123>

2025-08-21T07:14:33.716Z,1755760473.716 [DAT](ERROR): No response from remote modem.
2025-08-21T07:14:33.717Z,1755760473.717 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:14:33.718Z,1755760473.718 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:33.964Z,1755760473.964 [DAT](INFO): DAT read: Tx time:07:14:33.13

2025-08-21T07:14:33.965Z,1755760473.965 [DAT](INFO): Ping request sent.
2025-08-21T07:14:33.965Z,1755760473.965 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:33.966Z,1755760473.966 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:33.969Z,1755760473.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003514
2025-08-21T07:14:34.046Z,1755760474.046 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:34.055Z,1755760474.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:34.058Z,1755760474.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 156.062744 m,
      bearing: 7.887381 deg,
      approach rate: -0.584093 m/s,
      LOS rate: 0.098567 deg/s,
      cmd heading: 0.209016 deg,
      new cmd heading: 0.335873 deg.

2025-08-21T07:14:34.059Z,1755760474.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005862 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:34.216Z,1755760474.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251485
2025-08-21T07:14:34.465Z,1755760474.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:34.468Z,1755760474.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503671
2025-08-21T07:14:34.471Z,1755760474.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 155.811951 m,
      bearing: 7.928709 deg,
      approach rate: -0.612501 m/s,
      LOS rate: 0.101095 deg/s,
      cmd heading: 0.335873 deg,
      new cmd heading: 0.460056 deg.

2025-08-21T07:14:34.472Z,1755760474.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008029 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:34.721Z,1755760474.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756282
2025-08-21T07:14:34.846Z,1755760474.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:34.849Z,1755760474.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 155.561096 m,
      bearing: 7.969925 deg,
      approach rate: -0.657021 m/s,
      LOS rate: 0.108125 deg/s,
      cmd heading: 0.460056 deg,
      new cmd heading: 0.583904 deg.

2025-08-21T07:14:34.850Z,1755760474.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010191 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:34.972Z,1755760474.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007534
2025-08-21T07:14:35.224Z,1755760475.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259783
2025-08-21T07:14:35.249Z,1755760475.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:35.285Z,1755760475.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 155.313187 m,
      bearing: 8.010490 deg,
      approach rate: -0.615276 m/s,
      LOS rate: 0.100838 deg/s,
      cmd heading: 0.583904 deg,
      new cmd heading: 0.705793 deg.

2025-08-21T07:14:35.293Z,1755760475.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012318 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:35.476Z,1755760475.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511563
2025-08-21T07:14:35.696Z,1755760475.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:35.698Z,1755760475.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 155.050385 m,
      bearing: 8.053770 deg,
      approach rate: -0.594525 m/s,
      LOS rate: 0.098077 deg/s,
      cmd heading: 0.705793 deg,
      new cmd heading: 0.835854 deg.

2025-08-21T07:14:35.703Z,1755760475.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.014588 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:35.728Z,1755760475.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763739
2025-08-21T07:14:35.981Z,1755760475.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016520
2025-08-21T07:14:36.050Z,1755760476.050 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:36.052Z,1755760476.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:36.055Z,1755760476.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 154.818192 m,
      bearing: 8.091906 deg,
      approach rate: -0.643426 m/s,
      LOS rate: 0.105835 deg/s,
      cmd heading: 0.835854 deg,
      new cmd heading: 0.950432 deg.

2025-08-21T07:14:36.056Z,1755760476.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.016588 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:36.232Z,1755760476.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267548
2025-08-21T07:14:36.484Z,1755760476.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519451
2025-08-21T07:14:36.526Z,1755760476.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:36.529Z,1755760476.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 154.520950 m,
      bearing: 8.139657 deg,
      approach rate: -0.627655 m/s,
      LOS rate: 0.101025 deg/s,
      cmd heading: 0.950432 deg,
      new cmd heading: 1.093960 deg.

2025-08-21T07:14:36.530Z,1755760476.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019093 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:36.736Z,1755760476.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771767
2025-08-21T07:14:36.863Z,1755760476.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:36.866Z,1755760476.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 154.309540 m,
      bearing: 8.173512 deg,
      approach rate: -0.627050 m/s,
      LOS rate: 0.100554 deg/s,
      cmd heading: 1.093960 deg,
      new cmd heading: 1.195666 deg.

2025-08-21T07:14:36.867Z,1755760476.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020868 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:36.989Z,1755760476.989 [DAT](INFO): DAT read: Rx Time:07:14:35.7647

2025-08-21T07:14:36.990Z,1755760476.990 [DAT](INFO): Rx dataTimestamp_ set to:1755760476.989480
2025-08-21T07:14:36.991Z,1755760476.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025966
2025-08-21T07:14:37.240Z,1755760477.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275409
2025-08-21T07:14:37.301Z,1755760477.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 168.25 m.
2025-08-21T07:14:37.319Z,1755760477.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 168.245987 m,
      nav range: 154.047867 m,
      bearing: 8.215345 deg,
      approach rate: -0.610906 m/s,
      LOS rate: 0.097828 deg/s,
      cmd heading: 1.195666 deg,
      new cmd heading: 1.321376 deg.

2025-08-21T07:14:37.327Z,1755760477.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023062 target range: 168.245987 and range: 169.20 m.
2025-08-21T07:14:37.498Z,1755760477.498 [DAT](INFO): DAT read: 07:14:35.7647 LVL= 30160, 32753, 31442, 32755, AGC= 68, IDX= 285, 0.31,-1.724, 2.657,-1.954,-2.126, PHS= 0.503,-1.455, 0.128, RAW= 139.6,   9.2, CAL= 139.2,  10.1, ROT=  10.8, -10.1

2025-08-21T07:14:37.499Z,1755760477.499 [DAT](INFO): got valid direction response:
 07:14:35.7647 LVL= 30160, 32753, 31442, 32755, AGC= 68, IDX= 285, 0.31,-1.724, 2.657,-1.954,-2.126, PHS= 0.503,-1.455, 0.128, RAW= 139.6,   9.2, CAL= 139.2,  10.1, ROT=  10.8, -10.1

2025-08-21T07:14:37.500Z,1755760477.500 [DAT](INFO): DAT read: Bearing 161.6,  14.3 (Local)

2025-08-21T07:14:37.501Z,1755760477.501 [DAT](INFO): Local bearing/azimuth received:
 Bearing 161.6,  14.3 (Local)

2025-08-21T07:14:37.502Z,1755760477.502 [DAT](INFO): DAT read: Range 11 to 50 : 181.6 m  (Round-trip  242.2 ms) speed  0.5 m/s

2025-08-21T07:14:37.503Z,1755760477.503 [DAT](INFO): DAT read: user:2124>

2025-08-21T07:14:37.504Z,1755760477.504 [DAT](INFO): DAT read: Tx time:07:14:36.8683

2025-08-21T07:14:37.504Z,1755760477.504 [DAT](INFO): Ping request sent.
2025-08-21T07:14:37.504Z,1755760477.504 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:37.504Z,1755760477.504 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:37.505Z,1755760477.505 [DAT](INFO): direction in FSK: [0.967065,0.184478,0.175367]
2025-08-21T07:14:37.506Z,1755760477.506 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:37.506Z,1755760477.506 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:37.521Z,1755760477.521 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:37.522Z,1755760477.522 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:37.753Z,1755760477.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 181.600006 m,
      deltaT: 19.932092 s,
      deltaX: 12.400009 m,
      approachRate: 0.622113 m/s,
      rangeRepo size: 4

2025-08-21T07:14:37.759Z,1755760477.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 180.581192 m,
      bearing: 8.948360 deg,
      lat: 36.779379 deg,
      lon: -121.859342 deg,
      deltaT: 19.932092 s,
      deltaX: 12.335205 m,
      approachRate: 0.618862 m/s,
      posRepo size: 4

2025-08-21T07:14:37.760Z,1755760477.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.58 m.
2025-08-21T07:14:37.762Z,1755760477.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.581192 m,
      nav range: 155.436356 m,
      bearing: 9.618580 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.097828 deg/s,
      cmd heading: 1.321376 deg,
      new cmd heading: 1.456679 deg.

2025-08-21T07:14:37.768Z,1755760477.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025424 target range: 180.581192 and range: 181.60 m.
2025-08-21T07:14:38.095Z,1755760478.095 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:38.097Z,1755760478.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.58 m.
2025-08-21T07:14:38.100Z,1755760478.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.581192 m,
      nav range: 155.210953 m,
      bearing: 9.657373 deg,
      approach rate: -0.653768 m/s,
      LOS rate: 0.112680 deg/s,
      cmd heading: 1.456679 deg,
      new cmd heading: 1.573226 deg.

2025-08-21T07:14:38.101Z,1755760478.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.027458 target range: 180.581192 and range: 181.60 m.
2025-08-21T07:14:38.248Z,1755760478.248 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:14:38.248Z,1755760478.248 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:14:38.248Z,1755760478.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:38.500Z,1755760478.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996327
2025-08-21T07:14:38.530Z,1755760478.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.58 m.
2025-08-21T07:14:38.533Z,1755760478.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.581192 m,
      nav range: 154.941422 m,
      bearing: 9.703563 deg,
      approach rate: -0.622391 m/s,
      LOS rate: 0.106844 deg/s,
      cmd heading: 1.573226 deg,
      new cmd heading: 1.712035 deg.

2025-08-21T07:14:38.534Z,1755760478.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.029881 target range: 180.581192 and range: 181.60 m.
2025-08-21T07:14:38.752Z,1755760478.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248231
2025-08-21T07:14:38.922Z,1755760478.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.58 m.
2025-08-21T07:14:38.928Z,1755760478.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.581192 m,
      nav range: 154.702881 m,
      bearing: 9.744303 deg,
      approach rate: -0.609276 m/s,
      LOS rate: 0.104219 deg/s,
      cmd heading: 1.712035 deg,
      new cmd heading: 1.834445 deg.

2025-08-21T07:14:38.929Z,1755760478.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032017 target range: 180.581192 and range: 181.60 m.
2025-08-21T07:14:39.006Z,1755760479.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501552
2025-08-21T07:14:39.256Z,1755760479.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752226
2025-08-21T07:14:39.394Z,1755760479.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.58 m.
2025-08-21T07:14:39.400Z,1755760479.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.581192 m,
      nav range: 154.445740 m,
      bearing: 9.788124 deg,
      approach rate: -0.545969 m/s,
      LOS rate: 0.093197 deg/s,
      cmd heading: 1.834445 deg,
      new cmd heading: 1.966127 deg.

2025-08-21T07:14:39.405Z,1755760479.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034315 target range: 180.581192 and range: 181.60 m.
2025-08-21T07:14:39.512Z,1755760479.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008461
2025-08-21T07:14:39.760Z,1755760479.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256302
2025-08-21T07:14:39.825Z,1755760479.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.58 m.
2025-08-21T07:14:39.827Z,1755760479.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.581192 m,
      nav range: 154.139099 m,
      bearing: 9.842347 deg,
      approach rate: -0.709846 m/s,
      LOS rate: 0.125772 deg/s,
      cmd heading: 1.966127 deg,
      new cmd heading: 2.129119 deg.

2025-08-21T07:14:39.828Z,1755760479.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037160 target range: 180.581192 and range: 181.60 m.
2025-08-21T07:14:40.012Z,1755760480.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508199
2025-08-21T07:14:40.187Z,1755760480.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:40.193Z,1755760480.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.58 m.
2025-08-21T07:14:40.200Z,1755760480.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.581192 m,
      nav range: 153.914902 m,
      bearing: 9.881918 deg,
      approach rate: -0.609048 m/s,
      LOS rate: 0.107653 deg/s,
      cmd heading: 2.129119 deg,
      new cmd heading: 2.248004 deg.

2025-08-21T07:14:40.200Z,1755760480.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039235 target range: 180.581192 and range: 181.60 m.
2025-08-21T07:14:40.264Z,1755760480.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760288
2025-08-21T07:14:40.516Z,1755760480.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012106
2025-08-21T07:14:40.608Z,1755760480.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.58 m.
2025-08-21T07:14:40.610Z,1755760480.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.581192 m,
      nav range: 153.656052 m,
      bearing: 9.926995 deg,
      approach rate: -0.623794 m/s,
      LOS rate: 0.108812 deg/s,
      cmd heading: 2.248004 deg,
      new cmd heading: 2.383462 deg.

2025-08-21T07:14:40.612Z,1755760480.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041599 target range: 180.581192 and range: 181.60 m.
2025-08-21T07:14:40.768Z,1755760480.768 [DAT](INFO): DAT read: Rx Time:07:14:39.5119

2025-08-21T07:14:40.769Z,1755760480.769 [DAT](INFO): Rx dataTimestamp_ set to:1755760480.768473
2025-08-21T07:14:40.769Z,1755760480.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265310
2025-08-21T07:14:40.976Z,1755760480.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.58 m.
2025-08-21T07:14:40.978Z,1755760480.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 180.581192 m,
      nav range: 153.429047 m,
      bearing: 9.966223 deg,
      approach rate: -0.616726 m/s,
      LOS rate: 0.106733 deg/s,
      cmd heading: 2.383462 deg,
      new cmd heading: 2.501321 deg.

2025-08-21T07:14:40.979Z,1755760480.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043656 target range: 180.581192 and range: 181.60 m.
2025-08-21T07:14:41.020Z,1755760481.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516081
2025-08-21T07:14:41.278Z,1755760481.278 [DAT](INFO): DAT read: 07:14:39.5119 LVL= 29296, 32753, 32754, 32755, AGC= 71, IDX= 418,-0.37, 0.604,-1.318, 0.393, 0.214, PHS= 0.493,-1.486, 0.135, RAW= 140.2,   9.4, CAL= 139.8,  10.3, ROT=  10.2, -10.3

2025-08-21T07:14:41.284Z,1755760481.284 [DAT](INFO): got valid direction response:
 07:14:39.5119 LVL= 29296, 32753, 32754, 32755, AGC= 71, IDX= 418,-0.37, 0.604,-1.318, 0.393, 0.214, PHS= 0.493,-1.486, 0.135, RAW= 140.2,   9.4, CAL= 139.8,  10.3, ROT=  10.2, -10.3

2025-08-21T07:14:41.285Z,1755760481.285 [DAT](INFO): DAT read: Bearing 163.6,  12.9 (Local)

2025-08-21T07:14:41.285Z,1755760481.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing 163.6,  12.9 (Local)

2025-08-21T07:14:41.287Z,1755760481.287 [DAT](INFO): DAT read: Range 11 to 50 : 179.6 m  (Round-trip  239.5 ms) speed  0.5 m/s

2025-08-21T07:14:41.288Z,1755760481.288 [DAT](INFO): DAT read: user:2125>

2025-08-21T07:14:41.289Z,1755760481.289 [DAT](INFO): DAT read: Tx time:07:14:40.6182

2025-08-21T07:14:41.289Z,1755760481.289 [DAT](INFO): Ping request sent.
2025-08-21T07:14:41.289Z,1755760481.289 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:41.289Z,1755760481.289 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:41.290Z,1755760481.290 [DAT](INFO): direction in FSK: [0.968335,0.174231,0.178802]
2025-08-21T07:14:41.291Z,1755760481.291 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:41.291Z,1755760481.291 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:41.298Z,1755760481.298 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:41.298Z,1755760481.298 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:41.598Z,1755760481.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 179.600006 m,
      deltaT: 3.780201 s,
      deltaX: -2.000000 m,
      approachRate: -0.529072 m/s,
      rangeRepo size: 4

2025-08-21T07:14:41.605Z,1755760481.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 178.593124 m,
      bearing: 9.354237 deg,
      lat: 36.779551 deg,
      lon: -121.859327 deg,
      deltaT: 3.780201 s,
      deltaX: -1.988068 m,
      approachRate: -0.525916 m/s,
      posRepo size: 4

2025-08-21T07:14:41.605Z,1755760481.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.59 m.
2025-08-21T07:14:41.612Z,1755760481.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.593124 m,
      nav range: 172.122391 m,
      bearing: 9.360898 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.106733 deg/s,
      cmd heading: 2.501321 deg,
      new cmd heading: 2.700450 deg.

2025-08-21T07:14:41.613Z,1755760481.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047132 target range: 178.593124 and range: 179.60 m.
2025-08-21T07:14:42.061Z,1755760482.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.59 m.
2025-08-21T07:14:42.063Z,1755760482.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.593124 m,
      nav range: 171.810852 m,
      bearing: 9.405008 deg,
      approach rate: -0.672825 m/s,
      LOS rate: 0.095437 deg/s,
      cmd heading: 2.700450 deg,
      new cmd heading: 2.833021 deg.

2025-08-21T07:14:42.064Z,1755760482.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049446 target range: 178.593124 and range: 179.60 m.
2025-08-21T07:14:42.547Z,1755760482.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:42.549Z,1755760482.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.59 m.
2025-08-21T07:14:42.572Z,1755760482.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.593124 m,
      nav range: 171.507828 m,
      bearing: 9.449678 deg,
      approach rate: -0.620044 m/s,
      LOS rate: 0.091565 deg/s,
      cmd heading: 2.833021 deg,
      new cmd heading: 2.967267 deg.

2025-08-21T07:14:42.573Z,1755760482.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051789 target range: 178.593124 and range: 179.60 m.
2025-08-21T07:14:42.788Z,1755760482.788 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:14:42.788Z,1755760482.788 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:14:42.788Z,1755760482.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:42.938Z,1755760482.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.59 m.
2025-08-21T07:14:42.941Z,1755760482.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.593124 m,
      nav range: 171.272369 m,
      bearing: 9.484510 deg,
      approach rate: -0.605949 m/s,
      LOS rate: 0.089763 deg/s,
      cmd heading: 2.967267 deg,
      new cmd heading: 3.071907 deg.

2025-08-21T07:14:42.942Z,1755760482.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.053615 target range: 178.593124 and range: 179.60 m.
2025-08-21T07:14:43.041Z,1755760483.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751457
2025-08-21T07:14:43.292Z,1755760483.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002929
2025-08-21T07:14:43.344Z,1755760483.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.59 m.
2025-08-21T07:14:43.346Z,1755760483.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.593124 m,
      nav range: 171.034744 m,
      bearing: 9.518996 deg,
      approach rate: -0.585721 m/s,
      LOS rate: 0.085122 deg/s,
      cmd heading: 3.071907 deg,
      new cmd heading: 3.175508 deg.

2025-08-21T07:14:43.351Z,1755760483.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055423 target range: 178.593124 and range: 179.60 m.
2025-08-21T07:14:43.545Z,1755760483.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255355
2025-08-21T07:14:43.735Z,1755760483.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.59 m.
2025-08-21T07:14:43.738Z,1755760483.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.593124 m,
      nav range: 170.767197 m,
      bearing: 9.555083 deg,
      approach rate: -0.683608 m/s,
      LOS rate: 0.092351 deg/s,
      cmd heading: 3.175508 deg,
      new cmd heading: 3.283940 deg.

2025-08-21T07:14:43.739Z,1755760483.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057316 target range: 178.593124 and range: 179.60 m.
2025-08-21T07:14:43.796Z,1755760483.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507270
2025-08-21T07:14:44.048Z,1755760484.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759028
2025-08-21T07:14:44.127Z,1755760484.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.59 m.
2025-08-21T07:14:44.130Z,1755760484.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.593124 m,
      nav range: 170.518173 m,
      bearing: 9.588535 deg,
      approach rate: -0.635244 m/s,
      LOS rate: 0.085458 deg/s,
      cmd heading: 3.283940 deg,
      new cmd heading: 3.384441 deg.

2025-08-21T07:14:44.131Z,1755760484.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059070 target range: 178.593124 and range: 179.60 m.
2025-08-21T07:14:44.300Z,1755760484.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011080
2025-08-21T07:14:44.560Z,1755760484.560 [DAT](INFO): DAT read: Rx Time:07:14:43.2597

2025-08-21T07:14:44.561Z,1755760484.561 [DAT](INFO): Rx dataTimestamp_ set to:1755760484.560318
2025-08-21T07:14:44.561Z,1755760484.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272005
2025-08-21T07:14:44.578Z,1755760484.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:44.581Z,1755760484.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.59 m.
2025-08-21T07:14:44.584Z,1755760484.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.593124 m,
      nav range: 170.221161 m,
      bearing: 9.627631 deg,
      approach rate: -0.654708 m/s,
      LOS rate: 0.086330 deg/s,
      cmd heading: 3.384441 deg,
      new cmd heading: 3.501933 deg.

2025-08-21T07:14:44.584Z,1755760484.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061120 target range: 178.593124 and range: 179.60 m.
2025-08-21T07:14:44.812Z,1755760484.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523065
2025-08-21T07:14:45.001Z,1755760485.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.59 m.
2025-08-21T07:14:45.008Z,1755760485.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 178.593124 m,
      nav range: 169.950226 m,
      bearing: 9.663164 deg,
      approach rate: -0.644631 m/s,
      LOS rate: 0.084678 deg/s,
      cmd heading: 3.501933 deg,
      new cmd heading: 3.608702 deg.

2025-08-21T07:14:45.009Z,1755760485.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062984 target range: 178.593124 and range: 179.60 m.
2025-08-21T07:14:45.074Z,1755760485.074 [DAT](INFO): DAT read: 07:14:43.2597 LVL= 32752, 32753, 31586, 32755, AGC= 72, IDX= 427, 0.17, 1.210, 0.073, 1.262, 0.184, PHS= 1.128,-0.067, 1.033, RAW= 145.9, -32.8, CAL= 147.1, -33.1, ROT=   2.9,  33.1

2025-08-21T07:14:45.076Z,1755760485.076 [DAT](INFO): got valid direction response:
 07:14:43.2597 LVL= 32752, 32753, 31586, 32755, AGC= 72, IDX= 427, 0.17, 1.210, 0.073, 1.262, 0.184, PHS= 1.128,-0.067, 1.033, RAW= 145.9, -32.8, CAL= 147.1, -33.1, ROT=   2.9,  33.1

2025-08-21T07:14:45.078Z,1755760485.078 [DAT](INFO): DAT read: Bearing 122.2,   1.3 (Local)

2025-08-21T07:14:45.078Z,1755760485.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing 122.2,   1.3 (Local)

2025-08-21T07:14:45.097Z,1755760485.097 [DAT](INFO): DAT read: Range 11 to 50 : 178.0 m  (Round-trip  237.4 ms) speed  0.5 m/s

2025-08-21T07:14:45.097Z,1755760485.097 [DAT](INFO): DAT read: user:2126>

2025-08-21T07:14:45.098Z,1755760485.098 [DAT](INFO): DAT read: Tx time:07:14:44.3682

2025-08-21T07:14:45.098Z,1755760485.098 [DAT](INFO): Ping request sent.
2025-08-21T07:14:45.098Z,1755760485.098 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:45.099Z,1755760485.099 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:45.104Z,1755760485.104 [DAT](INFO): direction in FSK: [0.836646,0.042383,-0.546102]
2025-08-21T07:14:45.104Z,1755760485.104 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:45.105Z,1755760485.105 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:45.117Z,1755760485.117 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:45.118Z,1755760485.118 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:45.345Z,1755760485.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 178.000000 m,
      deltaT: 3.792595 s,
      deltaX: -1.600006 m,
      approachRate: -0.421876 m/s,
      rangeRepo size: 4

2025-08-21T07:14:45.347Z,1755760485.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 176.997559 m,
      bearing: 6.857390 deg,
      lat: 36.779551 deg,
      lon: -121.859327 deg,
      deltaT: 3.792595 s,
      deltaX: -1.595566 m,
      approachRate: -0.420706 m/s,
      posRepo size: 4

2025-08-21T07:14:45.348Z,1755760485.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:45.350Z,1755760485.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 169.725052 m,
      bearing: 9.692555 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.084678 deg/s,
      cmd heading: 3.608702 deg,
      new cmd heading: 3.695941 deg.

2025-08-21T07:14:45.352Z,1755760485.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064506 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:45.778Z,1755760485.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:45.781Z,1755760485.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 169.464554 m,
      bearing: 9.727872 deg,
      approach rate: -0.602334 m/s,
      LOS rate: 0.081787 deg/s,
      cmd heading: 3.695941 deg,
      new cmd heading: 3.802055 deg.

2025-08-21T07:14:45.782Z,1755760485.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.066358 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:46.142Z,1755760486.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:46.146Z,1755760486.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 169.221970 m,
      bearing: 9.760570 deg,
      approach rate: -0.665975 m/s,
      LOS rate: 0.089897 deg/s,
      cmd heading: 3.802055 deg,
      new cmd heading: 3.900290 deg.

2025-08-21T07:14:46.147Z,1755760486.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068073 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:46.579Z,1755760486.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:46.581Z,1755760486.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 168.943222 m,
      bearing: 9.799744 deg,
      approach rate: -0.637064 m/s,
      LOS rate: 0.089677 deg/s,
      cmd heading: 3.900290 deg,
      new cmd heading: 4.018004 deg.

2025-08-21T07:14:46.582Z,1755760486.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070127 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:46.955Z,1755760486.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:46.958Z,1755760486.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:46.964Z,1755760486.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 168.706268 m,
      bearing: 9.832985 deg,
      approach rate: -0.625637 m/s,
      LOS rate: 0.087891 deg/s,
      cmd heading: 4.018004 deg,
      new cmd heading: 4.117868 deg.

2025-08-21T07:14:46.965Z,1755760486.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071870 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:47.080Z,1755760487.080 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:14:47.080Z,1755760487.080 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:14:47.080Z,1755760487.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:47.332Z,1755760487.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233720
2025-08-21T07:14:47.395Z,1755760487.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:47.405Z,1755760487.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 168.444473 m,
      bearing: 9.869585 deg,
      approach rate: -0.599019 m/s,
      LOS rate: 0.083877 deg/s,
      cmd heading: 4.117868 deg,
      new cmd heading: 4.227840 deg.

2025-08-21T07:14:47.413Z,1755760487.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073790 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:47.585Z,1755760487.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486672
2025-08-21T07:14:47.803Z,1755760487.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:47.806Z,1755760487.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 168.165253 m,
      bearing: 9.909455 deg,
      approach rate: -0.683547 m/s,
      LOS rate: 0.097766 deg/s,
      cmd heading: 4.227840 deg,
      new cmd heading: 4.347649 deg.

2025-08-21T07:14:47.807Z,1755760487.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075881 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:47.845Z,1755760487.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745966
2025-08-21T07:14:48.096Z,1755760488.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997917
2025-08-21T07:14:48.171Z,1755760488.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:48.194Z,1755760488.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 167.936447 m,
      bearing: 9.941893 deg,
      approach rate: -0.622641 m/s,
      LOS rate: 0.088392 deg/s,
      cmd heading: 4.347648 deg,
      new cmd heading: 4.445095 deg.

2025-08-21T07:14:48.194Z,1755760488.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077582 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:48.348Z,1755760488.348 [DAT](INFO): DAT read: Rx Time:07:14:46.9729

2025-08-21T07:14:48.349Z,1755760488.349 [DAT](INFO): Rx dataTimestamp_ set to:1755760488.348570
2025-08-21T07:14:48.349Z,1755760488.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250869
2025-08-21T07:14:48.596Z,1755760488.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:48.598Z,1755760488.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 167.669327 m,
      bearing: 9.981551 deg,
      approach rate: -0.628004 m/s,
      LOS rate: 0.093385 deg/s,
      cmd heading: 4.445095 deg,
      new cmd heading: 4.564258 deg.

2025-08-21T07:14:48.616Z,1755760488.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517741
2025-08-21T07:14:48.633Z,1755760488.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079661 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:48.874Z,1755760488.874 [DAT](INFO): DAT read: 07:14:46.9729 LVL= 23424, 31793, 27554, 32755, AGC= 70, IDX=  66, 0.06, 0.914,-0.930, 0.776, 0.555, PHS= 0.461,-1.440, 0.177, RAW= 142.0,   9.1, CAL= 141.6,   9.9, ROT=   8.4,  -9.9

2025-08-21T07:14:48.875Z,1755760488.875 [DAT](INFO): got valid direction response:
 07:14:46.9729 LVL= 23424, 31793, 27554, 32755, AGC= 70, IDX=  66, 0.06, 0.914,-0.930, 0.776, 0.555, PHS= 0.461,-1.440, 0.177, RAW= 142.0,   9.1, CAL= 141.6,   9.9, ROT=   8.4,  -9.9

2025-08-21T07:14:48.876Z,1755760488.876 [DAT](INFO): DAT read: Bearing 166.3,   8.7 (Local)

2025-08-21T07:14:48.876Z,1755760488.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing 166.3,   8.7 (Local)

2025-08-21T07:14:48.878Z,1755760488.878 [DAT](INFO): DAT read: Range 11 to 50 : 150.3 m  (Round-trip  200.5 ms) speed  0.4 m/s

2025-08-21T07:14:48.879Z,1755760488.879 [DAT](INFO): DAT read: user:2127>

2025-08-21T07:14:48.880Z,1755760488.880 [DAT](INFO): DAT read: Tx time:07:14:48.0682

2025-08-21T07:14:48.880Z,1755760488.880 [DAT](INFO): Ping request sent.
2025-08-21T07:14:48.880Z,1755760488.880 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:48.880Z,1755760488.880 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:48.882Z,1755760488.882 [DAT](INFO): direction in FSK: [0.974541,0.143908,0.171929]
2025-08-21T07:14:48.882Z,1755760488.882 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:48.883Z,1755760488.883 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:48.922Z,1755760488.922 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:48.922Z,1755760488.922 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:49.092Z,1755760489.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds.
 range: 150.300003 m,
 deltaT: 3.803081 s,
 deltaX: -27.699997 m,
 approachRate: -7.283567 m/s,
 rangeRepo size: 4
2025-08-21T07:14:49.093Z,1755760489.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:49.100Z,1755760489.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 167.370972 m,
      bearing: 10.025729 deg,
      approach rate: -0.607009 m/s,
      LOS rate: 0.090040 deg/s,
      cmd heading: 4.564258 deg,
      new cmd heading: 4.697026 deg.

2025-08-21T07:14:49.101Z,1755760489.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081979 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:49.447Z,1755760489.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:49.449Z,1755760489.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:49.452Z,1755760489.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 167.135193 m,
      bearing: 10.060597 deg,
      approach rate: -0.651744 m/s,
      LOS rate: 0.096519 deg/s,
      cmd heading: 4.697026 deg,
      new cmd heading: 4.801778 deg.

2025-08-21T07:14:49.453Z,1755760489.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.083807 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:49.625Z,1755760489.625 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:14:49.625Z,1755760489.625 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:14:49.625Z,1755760489.625 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:49.848Z,1755760489.848 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,        +0.00, 0 , 9:1,  -675,   -19,    +2,A
2025-08-21T07:14:49.864Z,1755760489.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:49.866Z,1755760489.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 166.875275 m,
      bearing: 10.098973 deg,
      approach rate: -0.626535 m/s,
      LOS rate: 0.092651 deg/s,
      cmd heading: 4.801778 deg,
      new cmd heading: 4.917086 deg.

2025-08-21T07:14:49.868Z,1755760489.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.085819 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:49.876Z,1755760489.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996252
2025-08-21T07:14:50.129Z,1755760490.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248503
2025-08-21T07:14:50.280Z,1755760490.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:50.282Z,1755760490.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 166.617523 m,
      bearing: 10.136977 deg,
      approach rate: -0.619696 m/s,
      LOS rate: 0.091513 deg/s,
      cmd heading: 4.917086 deg,
      new cmd heading: 5.031275 deg.

2025-08-21T07:14:50.285Z,1755760490.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.087812 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:50.384Z,1755760490.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502680
2025-08-21T07:14:50.632Z,1755760490.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752337
2025-08-21T07:14:50.698Z,1755760490.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:50.700Z,1755760490.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 166.350204 m,
      bearing: 10.174300 deg,
      approach rate: -0.640033 m/s,
      LOS rate: 0.089504 deg/s,
      cmd heading: 5.031275 deg,
      new cmd heading: 5.143424 deg.

2025-08-21T07:14:50.701Z,1755760490.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089770 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:50.886Z,1755760490.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005362
2025-08-21T07:14:51.066Z,1755760491.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:51.068Z,1755760491.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 166.116867 m,
      bearing: 10.206764 deg,
      approach rate: -0.634143 m/s,
      LOS rate: 0.088350 deg/s,
      cmd heading: 5.143424 deg,
      new cmd heading: 5.240951 deg.

2025-08-21T07:14:51.069Z,1755760491.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091472 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:51.137Z,1755760491.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257444
2025-08-21T07:14:51.389Z,1755760491.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508999
2025-08-21T07:14:51.477Z,1755760491.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:51.500Z,1755760491.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:51.502Z,1755760491.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 165.853943 m,
      bearing: 10.243209 deg,
      approach rate: -0.635331 m/s,
      LOS rate: 0.088206 deg/s,
      cmd heading: 5.240951 deg,
      new cmd heading: 5.350459 deg.

2025-08-21T07:14:51.516Z,1755760491.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093383 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:51.641Z,1755760491.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760750
2025-08-21T07:14:51.894Z,1755760491.894 [DAT](INFO): DAT read: Rx Time:07:14:50.6698

2025-08-21T07:14:51.894Z,1755760491.894 [DAT](INFO): Rx dataTimestamp_ set to:1755760491.894036
2025-08-21T07:14:51.897Z,1755760491.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016830
2025-08-21T07:14:51.928Z,1755760491.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:51.930Z,1755760491.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 165.574432 m,
      bearing: 10.280858 deg,
      approach rate: -0.623083 m/s,
      LOS rate: 0.084069 deg/s,
      cmd heading: 5.350459 deg,
      new cmd heading: 5.463597 deg.

2025-08-21T07:14:51.932Z,1755760491.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095358 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:52.145Z,1755760492.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264808
2025-08-21T07:14:52.283Z,1755760492.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.00 m.
2025-08-21T07:14:52.286Z,1755760492.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 176.997559 m,
      nav range: 165.353012 m,
      bearing: 10.310365 deg,
      approach rate: -0.623563 m/s,
      LOS rate: 0.083210 deg/s,
      cmd heading: 5.463597 deg,
      new cmd heading: 5.552238 deg.

2025-08-21T07:14:52.287Z,1755760492.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096905 target range: 176.997559 and range: 178.00 m.
2025-08-21T07:14:52.407Z,1755760492.407 [DAT](INFO): DAT read: 07:14:50.6698 LVL= 26064, 32753, 27970, 32483, AGC= 69, IDX= 402, 0.20,-0.950,-2.908,-1.095,-1.346, PHS= 0.498,-1.517, 0.208, RAW= 142.3,   8.6, CAL= 141.9,   9.5, ROT=   8.1,  -9.5

2025-08-21T07:14:52.408Z,1755760492.408 [DAT](INFO): got valid direction response:
 07:14:50.6698 LVL= 26064, 32753, 27970, 32483, AGC= 69, IDX= 402, 0.20,-0.950,-2.908,-1.095,-1.346, PHS= 0.498,-1.517, 0.208, RAW= 142.3,   8.6, CAL= 141.9,   9.5, ROT=   8.1,  -9.5

2025-08-21T07:14:52.409Z,1755760492.409 [DAT](INFO): DAT read: Bearing 167.3,   7.3 (Local)

2025-08-21T07:14:52.409Z,1755760492.409 [DAT](INFO): Local bearing/azimuth received:
 Bearing 167.3,   7.3 (Local)

2025-08-21T07:14:52.411Z,1755760492.411 [DAT](INFO): DAT read: Range 11 to 50 : 148.0 m  (Round-trip  197.4 ms) speed  0.1 m/s

2025-08-21T07:14:52.416Z,1755760492.416 [DAT](INFO): DAT read: user:2128>

2025-08-21T07:14:52.416Z,1755760492.416 [DAT](INFO): DAT read: Tx time:07:14:51.7682

2025-08-21T07:14:52.417Z,1755760492.417 [DAT](INFO): Ping request sent.
2025-08-21T07:14:52.417Z,1755760492.417 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:52.417Z,1755760492.417 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:52.418Z,1755760492.418 [DAT](INFO): direction in FSK: [0.976446,0.138969,0.165048]
2025-08-21T07:14:52.418Z,1755760492.418 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:52.419Z,1755760492.419 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:52.430Z,1755760492.430 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:52.430Z,1755760492.430 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:52.712Z,1755760492.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 148.000000 m,
      deltaT: 7.331858 s,
      deltaX: -30.000000 m,
      approachRate: -4.091733 m/s,
      rangeRepo size: 4

2025-08-21T07:14:52.714Z,1755760492.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 147.163101 m,
      bearing: 11.140821 deg,
      lat: 36.779383 deg,
      lon: -121.859344 deg,
      deltaT: 7.331858 s,
      deltaX: -29.834457 m,
      approachRate: -4.069154 m/s,
      posRepo size: 4

2025-08-21T07:14:52.714Z,1755760492.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.16 m.
2025-08-21T07:14:52.717Z,1755760492.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.163101 m,
      nav range: 146.483963 m,
      bearing: 11.073572 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.083210 deg/s,
      cmd heading: 5.552238 deg,
      new cmd heading: 5.659032 deg.

2025-08-21T07:14:52.718Z,1755760492.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098769 target range: 147.163101 and range: 148.00 m.
2025-08-21T07:14:53.086Z,1755760493.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.16 m.
2025-08-21T07:14:53.089Z,1755760493.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.163101 m,
      nav range: 146.248169 m,
      bearing: 11.109960 deg,
      approach rate: -0.628573 m/s,
      LOS rate: 0.097158 deg/s,
      cmd heading: 5.659032 deg,
      new cmd heading: 5.768372 deg.

2025-08-21T07:14:53.090Z,1755760493.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100677 target range: 147.163101 and range: 148.00 m.
2025-08-21T07:14:53.501Z,1755760493.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:53.503Z,1755760493.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.16 m.
2025-08-21T07:14:53.506Z,1755760493.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.163101 m,
      nav range: 145.989014 m,
      bearing: 11.150098 deg,
      approach rate: -0.621343 m/s,
      LOS rate: 0.096404 deg/s,
      cmd heading: 5.768372 deg,
      new cmd heading: 5.889000 deg.

2025-08-21T07:14:53.507Z,1755760493.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102782 target range: 147.163101 and range: 148.00 m.
2025-08-21T07:14:53.656Z,1755760493.656 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:14:53.656Z,1755760493.656 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:14:53.656Z,1755760493.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:53.916Z,1755760493.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499223
2025-08-21T07:14:53.993Z,1755760493.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.16 m.
2025-08-21T07:14:53.996Z,1755760493.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.163101 m,
      nav range: 145.700134 m,
      bearing: 11.194585 deg,
      approach rate: -0.589736 m/s,
      LOS rate: 0.091000 deg/s,
      cmd heading: 5.889000 deg,
      new cmd heading: 6.022728 deg.

2025-08-21T07:14:53.997Z,1755760493.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105116 target range: 147.163101 and range: 148.00 m.
2025-08-21T07:14:54.169Z,1755760494.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751979
2025-08-21T07:14:54.304Z,1755760494.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.16 m.
2025-08-21T07:14:54.307Z,1755760494.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.163101 m,
      nav range: 145.490005 m,
      bearing: 11.226850 deg,
      approach rate: -0.674705 m/s,
      LOS rate: 0.103749 deg/s,
      cmd heading: 6.022728 deg,
      new cmd heading: 6.119662 deg.

2025-08-21T07:14:54.308Z,1755760494.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106808 target range: 147.163101 and range: 148.00 m.
2025-08-21T07:14:54.421Z,1755760494.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003592
2025-08-21T07:14:54.672Z,1755760494.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255255
2025-08-21T07:14:54.733Z,1755760494.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.16 m.
2025-08-21T07:14:54.752Z,1755760494.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.163101 m,
      nav range: 145.214142 m,
      bearing: 11.267966 deg,
      approach rate: -0.643604 m/s,
      LOS rate: 0.096108 deg/s,
      cmd heading: 6.119662 deg,
      new cmd heading: 6.243244 deg.

2025-08-21T07:14:54.753Z,1755760494.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108965 target range: 147.163101 and range: 148.00 m.
2025-08-21T07:14:54.924Z,1755760494.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507313
2025-08-21T07:14:55.104Z,1755760495.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.16 m.
2025-08-21T07:14:55.106Z,1755760495.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.163101 m,
      nav range: 144.975571 m,
      bearing: 11.303444 deg,
      approach rate: -0.644099 m/s,
      LOS rate: 0.095940 deg/s,
      cmd heading: 6.243244 deg,
      new cmd heading: 6.349851 deg.

2025-08-21T07:14:55.107Z,1755760495.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110826 target range: 147.163101 and range: 148.00 m.
2025-08-21T07:14:55.178Z,1755760495.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761056
2025-08-21T07:14:55.428Z,1755760495.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011259
2025-08-21T07:14:55.529Z,1755760495.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:55.531Z,1755760495.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.16 m.
2025-08-21T07:14:55.534Z,1755760495.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.163101 m,
      nav range: 144.702774 m,
      bearing: 11.343942 deg,
      approach rate: -0.637991 m/s,
      LOS rate: 0.094894 deg/s,
      cmd heading: 6.349851 deg,
      new cmd heading: 6.471577 deg.

2025-08-21T07:14:55.535Z,1755760495.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112950 target range: 147.163101 and range: 148.00 m.
2025-08-21T07:14:55.680Z,1755760495.680 [DAT](INFO): DAT read: Rx Time:07:14:54.3666

2025-08-21T07:14:55.681Z,1755760495.681 [DAT](INFO): Rx dataTimestamp_ set to:1755760495.680488
2025-08-21T07:14:55.681Z,1755760495.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264407
2025-08-21T07:14:55.932Z,1755760495.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515446
2025-08-21T07:14:55.937Z,1755760495.937 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3268,V
2025-08-21T07:14:55.957Z,1755760495.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.16 m.
2025-08-21T07:14:55.960Z,1755760495.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 147.163101 m,
      nav range: 144.428329 m,
      bearing: 11.384849 deg,
      approach rate: -0.644826 m/s,
      LOS rate: 0.096295 deg/s,
      cmd heading: 6.471576 deg,
      new cmd heading: 6.594529 deg.

2025-08-21T07:14:55.961Z,1755760495.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.115096 target range: 147.163101 and range: 148.00 m.
2025-08-21T07:14:56.190Z,1755760496.190 [DAT](INFO): DAT read: 07:14:54.3666 LVL= 32496, 32753, 31154, 32755, AGC= 69, IDX= 403,-0.34, 2.008, 0.179, 1.762, 1.599, PHS= 0.511,-1.375, 0.119, RAW= 138.6,   8.7, CAL= 138.3,   9.6, ROT=  11.7,  -9.6

2025-08-21T07:14:56.191Z,1755760496.191 [DAT](INFO): got valid direction response:
 07:14:54.3666 LVL= 32496, 32753, 31154, 32755, AGC= 69, IDX= 403,-0.34, 2.008, 0.179, 1.762, 1.599, PHS= 0.511,-1.375, 0.119, RAW= 138.6,   8.7, CAL= 138.3,   9.6, ROT=  11.7,  -9.6

2025-08-21T07:14:56.192Z,1755760496.192 [DAT](INFO): DAT read: Bearing 168.4,   9.8 (Local)

2025-08-21T07:14:56.193Z,1755760496.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing 168.4,   9.8 (Local)

2025-08-21T07:14:56.194Z,1755760496.194 [DAT](INFO): DAT read: Range 11 to 50 : 145.7 m  (Round-trip  194.3 ms) speed  0.5 m/s

2025-08-21T07:14:56.195Z,1755760496.195 [DAT](INFO): DAT read: user:2129>

2025-08-21T07:14:56.196Z,1755760496.196 [DAT](INFO): DAT read: Tx time:07:14:55.4682

2025-08-21T07:14:56.197Z,1755760496.197 [DAT](INFO): Ping request sent.
2025-08-21T07:14:56.197Z,1755760496.197 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:56.197Z,1755760496.197 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:56.198Z,1755760496.198 [DAT](INFO): direction in FSK: [0.965510,0.199947,0.166769]
2025-08-21T07:14:56.198Z,1755760496.198 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:56.199Z,1755760496.199 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:56.202Z,1755760496.202 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:56.202Z,1755760496.202 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:56.362Z,1755760496.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 145.699997 m,
      deltaT: 3.787316 s,
      deltaX: -2.300003 m,
      approachRate: -0.607291 m/s,
      rangeRepo size: 4

2025-08-21T07:14:56.374Z,1755760496.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 144.872162 m,
      bearing: 15.726128 deg,
      lat: 36.779375 deg,
      lon: -121.859344 deg,
      deltaT: 3.787316 s,
      deltaX: -2.290939 m,
      approachRate: -0.604898 m/s,
      posRepo size: 4

2025-08-21T07:14:56.380Z,1755760496.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.87 m.
2025-08-21T07:14:56.397Z,1755760496.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.872162 m,
      nav range: 143.309021 m,
      bearing: 11.492069 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.096295 deg/s,
      cmd heading: 6.594528 deg,
      new cmd heading: 6.711560 deg.

2025-08-21T07:14:56.398Z,1755760496.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.117139 target range: 144.872162 and range: 145.70 m.
2025-08-21T07:14:56.754Z,1755760496.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.87 m.
2025-08-21T07:14:56.757Z,1755760496.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.872162 m,
      nav range: 143.052429 m,
      bearing: 11.531771 deg,
      approach rate: -0.653885 m/s,
      LOS rate: 0.101355 deg/s,
      cmd heading: 6.711560 deg,
      new cmd heading: 6.830879 deg.

2025-08-21T07:14:56.758Z,1755760496.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119221 target range: 144.872162 and range: 145.70 m.
2025-08-21T07:14:57.173Z,1755760497.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.87 m.
2025-08-21T07:14:57.177Z,1755760497.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.872162 m,
      nav range: 142.803818 m,
      bearing: 11.570388 deg,
      approach rate: -0.593837 m/s,
      LOS rate: 0.092402 deg/s,
      cmd heading: 6.830879 deg,
      new cmd heading: 6.946932 deg.

2025-08-21T07:14:57.178Z,1755760497.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.121247 target range: 144.872162 and range: 145.70 m.
2025-08-21T07:14:57.553Z,1755760497.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:57.556Z,1755760497.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.87 m.
2025-08-21T07:14:57.558Z,1755760497.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.872162 m,
      nav range: 142.555618 m,
      bearing: 11.609083 deg,
      approach rate: -0.648918 m/s,
      LOS rate: 0.101345 deg/s,
      cmd heading: 6.946932 deg,
      new cmd heading: 7.063219 deg.

2025-08-21T07:14:57.559Z,1755760497.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.123276 target range: 144.872162 and range: 145.70 m.
2025-08-21T07:14:57.696Z,1755760497.696 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:14:57.696Z,1755760497.696 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:14:57.697Z,1755760497.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:14:57.948Z,1755760497.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751515
2025-08-21T07:14:57.988Z,1755760497.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.87 m.
2025-08-21T07:14:57.996Z,1755760497.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.872162 m,
      nav range: 142.280975 m,
      bearing: 11.650062 deg,
      approach rate: -0.634546 m/s,
      LOS rate: 0.094861 deg/s,
      cmd heading: 7.063219 deg,
      new cmd heading: 7.186391 deg.

2025-08-21T07:14:57.997Z,1755760497.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125426 target range: 144.872162 and range: 145.70 m.
2025-08-21T07:14:58.136Z,1755760498.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:14:58.201Z,1755760498.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004051
2025-08-21T07:14:58.348Z,1755760498.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.87 m.
2025-08-21T07:14:58.350Z,1755760498.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.872162 m,
      nav range: 142.051559 m,
      bearing: 11.684185 deg,
      approach rate: -0.637335 m/s,
      LOS rate: 0.094951 deg/s,
      cmd heading: 7.186391 deg,
      new cmd heading: 7.288927 deg.

2025-08-21T07:14:58.352Z,1755760498.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.127216 target range: 144.872162 and range: 145.70 m.
2025-08-21T07:14:58.453Z,1755760498.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256345
2025-08-21T07:14:58.705Z,1755760498.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507710
2025-08-21T07:14:58.775Z,1755760498.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.87 m.
2025-08-21T07:14:58.778Z,1755760498.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.872162 m,
      nav range: 141.779007 m,
      bearing: 11.725317 deg,
      approach rate: -0.638086 m/s,
      LOS rate: 0.096480 deg/s,
      cmd heading: 7.288927 deg,
      new cmd heading: 7.412559 deg.

2025-08-21T07:14:58.779Z,1755760498.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129374 target range: 144.872162 and range: 145.70 m.
2025-08-21T07:14:58.956Z,1755760498.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759468
2025-08-21T07:14:59.140Z,1755760499.140 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:14:59.162Z,1755760499.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.87 m.
2025-08-21T07:14:59.167Z,1755760499.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.872162 m,
      nav range: 141.534561 m,
      bearing: 11.762101 deg,
      approach rate: -0.631916 m/s,
      LOS rate: 0.095256 deg/s,
      cmd heading: 7.412558 deg,
      new cmd heading: 7.523103 deg.

2025-08-21T07:14:59.168Z,1755760499.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.131303 target range: 144.872162 and range: 145.70 m.
2025-08-21T07:14:59.208Z,1755760499.208 [DAT](INFO): DAT read: Rx Time:07:14:58.0634

2025-08-21T07:14:59.209Z,1755760499.209 [DAT](INFO): Rx dataTimestamp_ set to:1755760499.208549
2025-08-21T07:14:59.209Z,1755760499.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012604
2025-08-21T07:14:59.460Z,1755760499.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263400
2025-08-21T07:14:59.712Z,1755760499.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515557
2025-08-21T07:14:59.808Z,1755760499.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:14:59.810Z,1755760499.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.87 m.
2025-08-21T07:14:59.816Z,1755760499.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 144.872162 m,
      nav range: 141.128174 m,
      bearing: 11.822201 deg,
      approach rate: -0.627534 m/s,
      LOS rate: 0.093071 deg/s,
      cmd heading: 7.523102 deg,
      new cmd heading: 7.703919 deg.

2025-08-21T07:14:59.817Z,1755760499.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.134459 target range: 144.872162 and range: 145.70 m.
2025-08-21T07:14:59.970Z,1755760499.970 [DAT](INFO): DAT read: 07:14:58.0634 LVL= 30832, 32753, 32754, 32755, AGC= 69, IDX= 401,-0.05,-0.264,-2.188,-0.475,-0.691, PHS= 0.530,-1.452, 0.173, RAW= 140.3,   8.2, CAL= 139.9,   9.1, ROT=  10.1,  -9.1

2025-08-21T07:14:59.971Z,1755760499.971 [DAT](INFO): got valid direction response:
 07:14:58.0634 LVL= 30832, 32753, 32754, 32755, AGC= 69, IDX= 401,-0.05,-0.264,-2.188,-0.475,-0.691, PHS= 0.530,-1.452, 0.173, RAW= 140.3,   8.2, CAL= 139.9,   9.1, ROT=  10.1,  -9.1

2025-08-21T07:14:59.972Z,1755760499.972 [DAT](INFO): DAT read: Bearing 169.0,   7.5 (Local)

2025-08-21T07:14:59.972Z,1755760499.972 [DAT](INFO): Local bearing/azimuth received:
 Bearing 169.0,   7.5 (Local)

2025-08-21T07:14:59.974Z,1755760499.974 [DAT](INFO): DAT read: Range 11 to 50 : 143.3 m  (Round-trip  191.1 ms) speed  0.4 m/s

2025-08-21T07:14:59.974Z,1755760499.974 [DAT](INFO): DAT read: user:2130>

2025-08-21T07:14:59.975Z,1755760499.975 [DAT](INFO): DAT read: Tx time:07:14:59.1682

2025-08-21T07:14:59.975Z,1755760499.975 [DAT](INFO): Ping request sent.
2025-08-21T07:14:59.975Z,1755760499.975 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:14:59.976Z,1755760499.976 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:14:59.977Z,1755760499.977 [DAT](INFO): direction in FSK: [0.972112,0.173160,0.158158]
2025-08-21T07:14:59.977Z,1755760499.977 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:59.977Z,1755760499.977 [DAT](INFO): publishing direction and range info
2025-08-21T07:14:59.981Z,1755760499.981 [DAT](INFO): publishing transmit ping time
2025-08-21T07:14:59.981Z,1755760499.981 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:00.338Z,1755760500.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.300003 m,
      deltaT: 3.779883 s,
      deltaX: -2.399994 m,
      approachRate: -0.634939 m/s,
      rangeRepo size: 4

2025-08-21T07:15:00.340Z,1755760500.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 142.478760 m,
      bearing: 15.341151 deg,
      lat: 36.779372 deg,
      lon: -121.859344 deg,
      deltaT: 3.779883 s,
      deltaX: -2.393402 m,
      approachRate: -0.633195 m/s,
      posRepo size: 4

2025-08-21T07:15:00.341Z,1755760500.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.48 m.
2025-08-21T07:15:00.343Z,1755760500.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.478760 m,
      nav range: 140.407761 m,
      bearing: 11.904457 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.093071 deg/s,
      cmd heading: 7.703919 deg,
      new cmd heading: 7.851201 deg.

2025-08-21T07:15:00.344Z,1755760500.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.137029 target range: 142.478760 and range: 143.30 m.
2025-08-21T07:15:00.818Z,1755760500.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.48 m.
2025-08-21T07:15:00.821Z,1755760500.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.478760 m,
      nav range: 140.100479 m,
      bearing: 11.951114 deg,
      approach rate: -0.638661 m/s,
      LOS rate: 0.097184 deg/s,
      cmd heading: 7.851201 deg,
      new cmd heading: 7.991477 deg.

2025-08-21T07:15:00.822Z,1755760500.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.139478 target range: 142.478760 and range: 143.30 m.
2025-08-21T07:15:01.207Z,1755760501.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.48 m.
2025-08-21T07:15:01.209Z,1755760501.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.478760 m,
      nav range: 139.854630 m,
      bearing: 11.988374 deg,
      approach rate: -0.633148 m/s,
      LOS rate: 0.096125 deg/s,
      cmd heading: 7.991477 deg,
      new cmd heading: 8.103452 deg.

2025-08-21T07:15:01.210Z,1755760501.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.141432 target range: 142.478760 and range: 143.30 m.
2025-08-21T07:15:01.615Z,1755760501.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.48 m.
2025-08-21T07:15:01.618Z,1755760501.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.478760 m,
      nav range: 139.596298 m,
      bearing: 12.027675 deg,
      approach rate: -0.632965 m/s,
      LOS rate: 0.096475 deg/s,
      cmd heading: 8.103453 deg,
      new cmd heading: 8.221575 deg.

2025-08-21T07:15:01.619Z,1755760501.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.143494 target range: 142.478760 and range: 143.30 m.
2025-08-21T07:15:02.026Z,1755760502.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:02.029Z,1755760502.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.48 m.
2025-08-21T07:15:02.047Z,1755760502.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.478760 m,
      nav range: 139.329651 m,
      bearing: 12.066560 deg,
      approach rate: -0.644359 m/s,
      LOS rate: 0.094145 deg/s,
      cmd heading: 8.221575 deg,
      new cmd heading: 8.338451 deg.

2025-08-21T07:15:02.048Z,1755760502.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.145533 target range: 142.478760 and range: 143.30 m.
2025-08-21T07:15:02.243Z,1755760502.243 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:02.243Z,1755760502.243 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:02.243Z,1755760502.243 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:02.420Z,1755760502.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.48 m.
2025-08-21T07:15:02.423Z,1755760502.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.478760 m,
      nav range: 139.076050 m,
      bearing: 12.103391 deg,
      approach rate: -0.647159 m/s,
      LOS rate: 0.094161 deg/s,
      cmd heading: 8.338451 deg,
      new cmd heading: 8.449147 deg.

2025-08-21T07:15:02.425Z,1755760502.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.147465 target range: 142.478760 and range: 143.30 m.
2025-08-21T07:15:02.494Z,1755760502.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518553
2025-08-21T07:15:02.748Z,1755760502.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771144
2025-08-21T07:15:02.856Z,1755760502.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.48 m.
2025-08-21T07:15:02.861Z,1755760502.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.478760 m,
      nav range: 138.804657 m,
      bearing: 12.143422 deg,
      approach rate: -0.624336 m/s,
      LOS rate: 0.092271 deg/s,
      cmd heading: 8.449146 deg,
      new cmd heading: 8.569474 deg.

2025-08-21T07:15:02.864Z,1755760502.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.149566 target range: 142.478760 and range: 143.30 m.
2025-08-21T07:15:02.997Z,1755760502.997 [DAT](INFO): DAT read: Rx Time:07:15:01.7603

2025-08-21T07:15:02.997Z,1755760502.997 [DAT](INFO): Rx dataTimestamp_ set to:1755760502.996804
2025-08-21T07:15:02.998Z,1755760502.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022101
2025-08-21T07:15:03.221Z,1755760503.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.48 m.
2025-08-21T07:15:03.224Z,1755760503.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 142.478760 m,
      nav range: 138.573746 m,
      bearing: 12.177324 deg,
      approach rate: -0.631003 m/s,
      LOS rate: 0.092797 deg/s,
      cmd heading: 8.569474 deg,
      new cmd heading: 8.671348 deg.

2025-08-21T07:15:03.225Z,1755760503.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.151344 target range: 142.478760 and range: 143.30 m.
2025-08-21T07:15:03.261Z,1755760503.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285713
2025-08-21T07:15:03.518Z,1755760503.518 [DAT](INFO): DAT read: 07:15:01.7603 LVL= 30064, 32753, 30578, 32755, AGC= 73, IDX= 417,-0.03,-2.398, 1.942,-2.610,-2.826, PHS= 0.530,-1.470, 0.173, RAW= 140.3,   8.3, CAL= 139.9,   9.2, ROT=  10.1,  -9.2

2025-08-21T07:15:03.519Z,1755760503.519 [DAT](INFO): got valid direction response:
 07:15:01.7603 LVL= 30064, 32753, 30578, 32755, AGC= 73, IDX= 417,-0.03,-2.398, 1.942,-2.610,-2.826, PHS= 0.530,-1.470, 0.173, RAW= 140.3,   8.3, CAL= 139.9,   9.2, ROT=  10.1,  -9.2

2025-08-21T07:15:03.520Z,1755760503.520 [DAT](INFO): DAT read: Bearing 170.5,   6.9 (Local)

2025-08-21T07:15:03.520Z,1755760503.520 [DAT](INFO): Local bearing/azimuth received:
 Bearing 170.5,   6.9 (Local)

2025-08-21T07:15:03.522Z,1755760503.522 [DAT](INFO): DAT read: Range 11 to 50 : 140.9 m  (Round-trip  187.9 ms) speed  0.7 m/s

2025-08-21T07:15:03.522Z,1755760503.522 [DAT](INFO): DAT read: user:2131>

2025-08-21T07:15:03.523Z,1755760503.523 [DAT](INFO): DAT read: Tx time:07:15:02.8682

2025-08-21T07:15:03.523Z,1755760503.523 [DAT](INFO): Ping request sent.
2025-08-21T07:15:03.524Z,1755760503.524 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:15:03.524Z,1755760503.524 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:15:03.525Z,1755760503.525 [DAT](INFO): direction in FSK: [0.971839,0.173111,0.159881]
2025-08-21T07:15:03.525Z,1755760503.525 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:03.525Z,1755760503.525 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:03.533Z,1755760503.533 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:03.533Z,1755760503.533 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:03.684Z,1755760503.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 140.899994 m,
      deltaT: 3.548027 s,
      deltaX: -2.400009 m,
      approachRate: -0.676435 m/s,
      rangeRepo size: 4

2025-08-21T07:15:03.686Z,1755760503.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 140.095978 m,
      bearing: 16.482993 deg,
      lat: 36.779364 deg,
      lon: -121.859248 deg,
      deltaT: 3.548027 s,
      deltaX: -2.382782 m,
      approachRate: -0.671579 m/s,
      posRepo size: 4

2025-08-21T07:15:03.686Z,1755760503.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-21T07:15:03.715Z,1755760503.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.095978 m,
      nav range: 139.522629 m,
      bearing: 15.702847 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.092797 deg/s,
      cmd heading: 8.671349 deg,
      new cmd heading: 8.797098 deg.

2025-08-21T07:15:03.732Z,1755760503.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.153538 target range: 140.095978 and range: 140.90 m.
2025-08-21T07:15:04.117Z,1755760504.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:04.119Z,1755760504.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-21T07:15:04.122Z,1755760504.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.095978 m,
      nav range: 139.244797 m,
      bearing: 15.749817 deg,
      approach rate: -0.622508 m/s,
      LOS rate: 0.105450 deg/s,
      cmd heading: 8.797098 deg,
      new cmd heading: 8.938289 deg.

2025-08-21T07:15:04.123Z,1755760504.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.156003 target range: 140.095978 and range: 140.90 m.
2025-08-21T07:15:04.268Z,1755760504.268 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:04.268Z,1755760504.268 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:04.268Z,1755760504.268 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:04.499Z,1755760504.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-21T07:15:04.502Z,1755760504.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.095978 m,
      nav range: 138.996063 m,
      bearing: 15.792039 deg,
      approach rate: -0.654967 m/s,
      LOS rate: 0.111379 deg/s,
      cmd heading: 8.938289 deg,
      new cmd heading: 9.065182 deg.

2025-08-21T07:15:04.503Z,1755760504.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158217 target range: 140.095978 and range: 140.90 m.
2025-08-21T07:15:04.521Z,1755760504.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997852
2025-08-21T07:15:04.776Z,1755760504.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252048
2025-08-21T07:15:04.918Z,1755760504.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-21T07:15:04.920Z,1755760504.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.095978 m,
      nav range: 138.736160 m,
      bearing: 15.836021 deg,
      approach rate: -0.620593 m/s,
      LOS rate: 0.105215 deg/s,
      cmd heading: 9.065182 deg,
      new cmd heading: 9.197373 deg.

2025-08-21T07:15:04.921Z,1755760504.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.160524 target range: 140.095978 and range: 140.90 m.
2025-08-21T07:15:05.026Z,1755760505.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502104
2025-08-21T07:15:05.276Z,1755760505.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752662
2025-08-21T07:15:05.296Z,1755760505.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-21T07:15:05.298Z,1755760505.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.095978 m,
      nav range: 138.500504 m,
      bearing: 15.875796 deg,
      approach rate: -0.623625 m/s,
      LOS rate: 0.105438 deg/s,
      cmd heading: 9.197373 deg,
      new cmd heading: 9.316902 deg.

2025-08-21T07:15:05.299Z,1755760505.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.162611 target range: 140.095978 and range: 140.90 m.
2025-08-21T07:15:05.529Z,1755760505.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005188
2025-08-21T07:15:05.695Z,1755760505.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-21T07:15:05.698Z,1755760505.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.095978 m,
      nav range: 138.251892 m,
      bearing: 15.917645 deg,
      approach rate: -0.622014 m/s,
      LOS rate: 0.104892 deg/s,
      cmd heading: 9.316901 deg,
      new cmd heading: 9.442673 deg.

2025-08-21T07:15:05.699Z,1755760505.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.164806 target range: 140.095978 and range: 140.90 m.
2025-08-21T07:15:05.784Z,1755760505.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259174
2025-08-21T07:15:06.033Z,1755760506.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508979
2025-08-21T07:15:06.131Z,1755760506.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:06.133Z,1755760506.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-21T07:15:06.136Z,1755760506.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.095978 m,
      nav range: 137.984848 m,
      bearing: 15.962903 deg,
      approach rate: -0.609532 m/s,
      LOS rate: 0.103503 deg/s,
      cmd heading: 9.442673 deg,
      new cmd heading: 9.578711 deg.

2025-08-21T07:15:06.137Z,1755760506.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167180 target range: 140.095978 and range: 140.90 m.
2025-08-21T07:15:06.284Z,1755760506.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760613
2025-08-21T07:15:06.524Z,1755760506.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-21T07:15:06.526Z,1755760506.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.095978 m,
      nav range: 137.753891 m,
      bearing: 16.001952 deg,
      approach rate: -0.591894 m/s,
      LOS rate: 0.100242 deg/s,
      cmd heading: 9.578711 deg,
      new cmd heading: 9.696054 deg.

2025-08-21T07:15:06.527Z,1755760506.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.169228 target range: 140.095978 and range: 140.90 m.
2025-08-21T07:15:06.536Z,1755760506.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012746
2025-08-21T07:15:06.792Z,1755760506.792 [DAT](INFO): DAT read: Rx Time:07:15:05.4571

2025-08-21T07:15:06.793Z,1755760506.793 [DAT](INFO): Rx dataTimestamp_ set to:1755760506.792194
2025-08-21T07:15:06.795Z,1755760506.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271076
2025-08-21T07:15:06.948Z,1755760506.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.10 m.
2025-08-21T07:15:06.950Z,1755760506.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 140.095978 m,
      nav range: 137.476608 m,
      bearing: 16.049372 deg,
      approach rate: -0.654103 m/s,
      LOS rate: 0.112089 deg/s,
      cmd heading: 9.696054 deg,
      new cmd heading: 9.838602 deg.

2025-08-21T07:15:06.951Z,1755760506.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.171716 target range: 140.095978 and range: 140.90 m.
2025-08-21T07:15:07.041Z,1755760507.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516898
2025-08-21T07:15:07.298Z,1755760507.298 [DAT](INFO): DAT read: 07:15:05.4571 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 417, 0.16,-2.152, 2.365,-2.335,-2.543, PHS= 0.493,-1.330, 0.164, RAW= 140.2,   8.1, CAL= 139.9,   8.9, ROT=  10.1,  -8.9

2025-08-21T07:15:07.299Z,1755760507.299 [DAT](INFO): got valid direction response:
 07:15:05.4571 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 417, 0.16,-2.152, 2.365,-2.335,-2.543, PHS= 0.493,-1.330, 0.164, RAW= 140.2,   8.1, CAL= 139.9,   8.9, ROT=  10.1,  -8.9

2025-08-21T07:15:07.300Z,1755760507.300 [DAT](INFO): DAT read: Bearing 171.6,   6.8 (Local)

2025-08-21T07:15:07.301Z,1755760507.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing 171.6,   6.8 (Local)

2025-08-21T07:15:07.302Z,1755760507.302 [DAT](INFO): DAT read: Range 11 to 50 : 138.6 m  (Round-trip  184.8 ms) speed  0.8 m/s

2025-08-21T07:15:07.303Z,1755760507.303 [DAT](INFO): DAT read: user:2132>

2025-08-21T07:15:07.304Z,1755760507.304 [DAT](INFO): DAT read: Tx time:07:15:06.5697

2025-08-21T07:15:07.304Z,1755760507.304 [DAT](INFO): Ping request sent.
2025-08-21T07:15:07.304Z,1755760507.304 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:15:07.304Z,1755760507.304 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:15:07.305Z,1755760507.305 [DAT](INFO): direction in FSK: [0.972650,0.173255,0.154710]
2025-08-21T07:15:07.305Z,1755760507.305 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:07.306Z,1755760507.306 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:07.309Z,1755760507.309 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:07.310Z,1755760507.310 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:07.423Z,1755760507.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 138.600006 m,
      deltaT: 3.780149 s,
      deltaX: -2.299988 m,
      approachRate: -0.608438 m/s,
      rangeRepo size: 4

2025-08-21T07:15:07.425Z,1755760507.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 137.818024 m,
      bearing: 17.694296 deg,
      lat: 36.779357 deg,
      lon: -121.859229 deg,
      deltaT: 3.780149 s,
      deltaX: -2.277954 m,
      approachRate: -0.602610 m/s,
      posRepo size: 4

2025-08-21T07:15:07.426Z,1755760507.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.82 m.
2025-08-21T07:15:07.433Z,1755760507.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.818024 m,
      nav range: 136.963913 m,
      bearing: 16.892284 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.112089 deg/s,
      cmd heading: 9.838601 deg,
      new cmd heading: 9.996985 deg.

2025-08-21T07:15:07.434Z,1755760507.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.174480 target range: 137.818024 and range: 138.60 m.
2025-08-21T07:15:07.833Z,1755760507.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.82 m.
2025-08-21T07:15:07.836Z,1755760507.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.818024 m,
      nav range: 136.690994 m,
      bearing: 16.940521 deg,
      approach rate: -0.658211 m/s,
      LOS rate: 0.116568 deg/s,
      cmd heading: 9.996984 deg,
      new cmd heading: 10.141984 deg.

2025-08-21T07:15:07.837Z,1755760507.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.177011 target range: 137.818024 and range: 138.60 m.
2025-08-21T07:15:08.209Z,1755760508.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:08.212Z,1755760508.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.82 m.
2025-08-21T07:15:08.214Z,1755760508.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.818024 m,
      nav range: 136.452408 m,
      bearing: 16.983163 deg,
      approach rate: -0.630056 m/s,
      LOS rate: 0.112807 deg/s,
      cmd heading: 10.141983 deg,
      new cmd heading: 10.270135 deg.

2025-08-21T07:15:08.216Z,1755760508.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.179248 target range: 137.818024 and range: 138.60 m.
2025-08-21T07:15:08.301Z,1755760508.301 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:08.301Z,1755760508.301 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:08.301Z,1755760508.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:08.552Z,1755760508.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248360
2025-08-21T07:15:08.609Z,1755760508.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.82 m.
2025-08-21T07:15:08.620Z,1755760508.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.818024 m,
      nav range: 136.221130 m,
      bearing: 17.024516 deg,
      approach rate: -0.581548 m/s,
      LOS rate: 0.104157 deg/s,
      cmd heading: 10.270135 deg,
      new cmd heading: 10.394402 deg.

2025-08-21T07:15:08.621Z,1755760508.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.181417 target range: 137.818024 and range: 138.60 m.
2025-08-21T07:15:08.808Z,1755760508.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502964
2025-08-21T07:15:09.018Z,1755760509.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.82 m.
2025-08-21T07:15:09.025Z,1755760509.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.818024 m,
      nav range: 135.965805 m,
      bearing: 17.070108 deg,
      approach rate: -0.625348 m/s,
      LOS rate: 0.111877 deg/s,
      cmd heading: 10.394401 deg,
      new cmd heading: 10.531436 deg.

2025-08-21T07:15:09.026Z,1755760509.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183808 target range: 137.818024 and range: 138.60 m.
2025-08-21T07:15:09.056Z,1755760509.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752473
2025-08-21T07:15:09.309Z,1755760509.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005518
2025-08-21T07:15:09.400Z,1755760509.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.82 m.
2025-08-21T07:15:09.402Z,1755760509.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.818024 m,
      nav range: 135.722015 m,
      bearing: 17.113659 deg,
      approach rate: -0.638607 m/s,
      LOS rate: 0.114285 deg/s,
      cmd heading: 10.531436 deg,
      new cmd heading: 10.662322 deg.

2025-08-21T07:15:09.403Z,1755760509.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.186093 target range: 137.818024 and range: 138.60 m.
2025-08-21T07:15:09.560Z,1755760509.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256300
2025-08-21T07:15:09.828Z,1755760509.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511160
2025-08-21T07:15:09.878Z,1755760509.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.82 m.
2025-08-21T07:15:09.884Z,1755760509.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.818024 m,
      nav range: 135.443726 m,
      bearing: 17.163433 deg,
      approach rate: -0.582063 m/s,
      LOS rate: 0.104320 deg/s,
      cmd heading: 10.662321 deg,
      new cmd heading: 10.811951 deg.

2025-08-21T07:15:09.885Z,1755760509.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.188704 target range: 137.818024 and range: 138.60 m.
2025-08-21T07:15:10.066Z,1755760510.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761706
2025-08-21T07:15:10.316Z,1755760510.316 [DAT](INFO): DAT read: Rx Time:07:15:09.1554

2025-08-21T07:15:10.317Z,1755760510.317 [DAT](INFO): Rx dataTimestamp_ set to:1755760510.316626
2025-08-21T07:15:10.317Z,1755760510.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013516
2025-08-21T07:15:10.435Z,1755760510.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:10.437Z,1755760510.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.82 m.
2025-08-21T07:15:10.440Z,1755760510.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.818024 m,
      nav range: 135.090210 m,
      bearing: 17.229192 deg,
      approach rate: -0.631638 m/s,
      LOS rate: 0.117801 deg/s,
      cmd heading: 10.811950 deg,
      new cmd heading: 11.009743 deg.

2025-08-21T07:15:10.441Z,1755760510.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192156 target range: 137.818024 and range: 138.60 m.
2025-08-21T07:15:10.568Z,1755760510.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264319
2025-08-21T07:15:10.773Z,1755760510.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.82 m.
2025-08-21T07:15:10.776Z,1755760510.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 137.818024 m,
      nav range: 134.885345 m,
      bearing: 17.267404 deg,
      approach rate: -0.610093 m/s,
      LOS rate: 0.113969 deg/s,
      cmd heading: 11.009743 deg,
      new cmd heading: 11.124553 deg.

2025-08-21T07:15:10.777Z,1755760510.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.194160 target range: 137.818024 and range: 138.60 m.
2025-08-21T07:15:10.825Z,1755760510.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520399
2025-08-21T07:15:11.078Z,1755760511.078 [DAT](INFO): DAT read: 07:15:09.1554 LVL= 31936, 32465, 28002, 32755, AGC= 70, IDX= 416,-0.28, 0.358,-1.493, 0.160,-0.045, PHS= 0.505,-1.403, 0.161, RAW= 140.3,   8.4, CAL= 139.9,   9.3, ROT=  10.1,  -9.3

2025-08-21T07:15:11.079Z,1755760511.079 [DAT](INFO): got valid direction response:
 07:15:09.1554 LVL= 31936, 32465, 28002, 32755, AGC= 70, IDX= 416,-0.28, 0.358,-1.493, 0.160,-0.045, PHS= 0.505,-1.403, 0.161, RAW= 140.3,   8.4, CAL= 139.9,   9.3, ROT=  10.1,  -9.3

2025-08-21T07:15:11.080Z,1755760511.080 [DAT](INFO): DAT read: Bearing 173.3,   6.6 (Local)

2025-08-21T07:15:11.080Z,1755760511.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing 173.3,   6.6 (Local)

2025-08-21T07:15:11.082Z,1755760511.082 [DAT](INFO): DAT read: Range 11 to 50 : 136.2 m  (Round-trip  181.6 ms) speed  0.2 m/s

2025-08-21T07:15:11.083Z,1755760511.083 [DAT](INFO): DAT read: user:2133>

2025-08-21T07:15:11.084Z,1755760511.084 [DAT](INFO): DAT read: Tx time:07:15:10.2681

2025-08-21T07:15:11.084Z,1755760511.084 [DAT](INFO): Ping request sent.
2025-08-21T07:15:11.084Z,1755760511.084 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:15:11.084Z,1755760511.084 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:15:11.085Z,1755760511.085 [DAT](INFO): direction in FSK: [0.971563,0.173062,0.161604]
2025-08-21T07:15:11.086Z,1755760511.086 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:11.086Z,1755760511.086 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:11.089Z,1755760511.089 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:11.089Z,1755760511.089 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:11.382Z,1755760511.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 136.199997 m,
      deltaT: 3.779959 s,
      deltaX: -2.400009 m,
      approachRate: -0.634930 m/s,
      rangeRepo size: 4

2025-08-21T07:15:11.388Z,1755760511.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.435379 m,
      bearing: 18.509339 deg,
      lat: 36.779355 deg,
      lon: -121.859228 deg,
      deltaT: 3.779959 s,
      deltaX: -2.382645 m,
      approachRate: -0.630336 m/s,
      posRepo size: 4

2025-08-21T07:15:11.389Z,1755760511.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.44 m.
2025-08-21T07:15:11.396Z,1755760511.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.435379 m,
      nav range: 134.317810 m,
      bearing: 17.407338 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.113969 deg/s,
      cmd heading: 11.124553 deg,
      new cmd heading: 11.332515 deg.

2025-08-21T07:15:11.397Z,1755760511.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.197790 target range: 135.435379 and range: 136.20 m.
2025-08-21T07:15:11.912Z,1755760511.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.44 m.
2025-08-21T07:15:11.915Z,1755760511.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.435379 m,
      nav range: 133.973740 m,
      bearing: 17.467617 deg,
      approach rate: -0.648359 m/s,
      LOS rate: 0.113879 deg/s,
      cmd heading: 11.332515 deg,
      new cmd heading: 11.513815 deg.

2025-08-21T07:15:11.916Z,1755760511.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.200954 target range: 135.435379 and range: 136.20 m.
2025-08-21T07:15:12.243Z,1755760512.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.44 m.
2025-08-21T07:15:12.246Z,1755760512.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.435379 m,
      nav range: 133.767776 m,
      bearing: 17.503665 deg,
      approach rate: -0.622151 m/s,
      LOS rate: 0.109057 deg/s,
      cmd heading: 11.513815 deg,
      new cmd heading: 11.622125 deg.

2025-08-21T07:15:12.247Z,1755760512.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.202844 target range: 135.435379 and range: 136.20 m.
2025-08-21T07:15:12.658Z,1755760512.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:12.668Z,1755760512.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.44 m.
2025-08-21T07:15:12.670Z,1755760512.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.435379 m,
      nav range: 133.508774 m,
      bearing: 17.548927 deg,
      approach rate: -0.614602 m/s,
      LOS rate: 0.107613 deg/s,
      cmd heading: 11.622125 deg,
      new cmd heading: 11.758175 deg.

2025-08-21T07:15:12.671Z,1755760512.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.205219 target range: 135.435379 and range: 136.20 m.
2025-08-21T07:15:12.838Z,1755760512.838 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:12.838Z,1755760512.838 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:12.840Z,1755760512.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:13.077Z,1755760513.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.44 m.
2025-08-21T07:15:13.080Z,1755760513.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.435379 m,
      nav range: 133.255676 m,
      bearing: 17.592554 deg,
      approach rate: -0.613501 m/s,
      LOS rate: 0.105951 deg/s,
      cmd heading: 11.758175 deg,
      new cmd heading: 11.889304 deg.

2025-08-21T07:15:13.081Z,1755760513.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.207508 target range: 135.435379 and range: 136.20 m.
2025-08-21T07:15:13.088Z,1755760513.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004288
2025-08-21T07:15:13.342Z,1755760513.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257260
2025-08-21T07:15:13.455Z,1755760513.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.44 m.
2025-08-21T07:15:13.458Z,1755760513.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.435379 m,
      nav range: 133.025955 m,
      bearing: 17.632064 deg,
      approach rate: -0.607479 m/s,
      LOS rate: 0.104661 deg/s,
      cmd heading: 11.889304 deg,
      new cmd heading: 12.008038 deg.

2025-08-21T07:15:13.459Z,1755760513.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.209580 target range: 135.435379 and range: 136.20 m.
2025-08-21T07:15:13.592Z,1755760513.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508118
2025-08-21T07:15:13.849Z,1755760513.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764377
2025-08-21T07:15:13.943Z,1755760513.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.44 m.
2025-08-21T07:15:13.946Z,1755760513.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.435379 m,
      nav range: 132.732086 m,
      bearing: 17.682818 deg,
      approach rate: -0.602434 m/s,
      LOS rate: 0.104278 deg/s,
      cmd heading: 12.008038 deg,
      new cmd heading: 12.160638 deg.

2025-08-21T07:15:13.946Z,1755760513.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.212243 target range: 135.435379 and range: 136.20 m.
2025-08-21T07:15:14.097Z,1755760514.097 [DAT](INFO): DAT read: Rx Time:07:15:12.8507

2025-08-21T07:15:14.097Z,1755760514.097 [DAT](INFO): Rx dataTimestamp_ set to:1755760514.096897
2025-08-21T07:15:14.098Z,1755760514.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013709
2025-08-21T07:15:14.317Z,1755760514.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.44 m.
2025-08-21T07:15:14.320Z,1755760514.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.435379 m,
      nav range: 132.506638 m,
      bearing: 17.721584 deg,
      approach rate: -0.602327 m/s,
      LOS rate: 0.103747 deg/s,
      cmd heading: 12.160639 deg,
      new cmd heading: 12.277134 deg.

2025-08-21T07:15:14.321Z,1755760514.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.214276 target range: 135.435379 and range: 136.20 m.
2025-08-21T07:15:14.356Z,1755760514.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271947
2025-08-21T07:15:14.622Z,1755760514.622 [DAT](INFO): DAT read: 07:15:12.8507 LVL= 28128, 32753, 25682, 31923, AGC= 70, IDX= 416,-0.44, 0.357,-1.574, 0.229,-0.017, PHS= 0.476,-1.511, 0.202, RAW= 142.7,   9.0, CAL= 142.3,   9.8, ROT=   7.7,  -9.8

2025-08-21T07:15:14.623Z,1755760514.623 [DAT](INFO): got valid direction response:
 07:15:12.8507 LVL= 28128, 32753, 25682, 31923, AGC= 70, IDX= 416,-0.44, 0.357,-1.574, 0.229,-0.017, PHS= 0.476,-1.511, 0.202, RAW= 142.7,   9.0, CAL= 142.3,   9.8, ROT=   7.7,  -9.8

2025-08-21T07:15:14.625Z,1755760514.625 [DAT](INFO): DAT read: Bearing 175.2,   4.4 (Local)

2025-08-21T07:15:14.625Z,1755760514.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 175.2,   4.4 (Local)

2025-08-21T07:15:14.626Z,1755760514.626 [DAT](INFO): DAT read: Range 11 to 50 : 133.8 m  (Round-trip  178.5 ms) speed  0.4 m/s

2025-08-21T07:15:14.628Z,1755760514.628 [DAT](INFO): DAT read: user:2134>

2025-08-21T07:15:14.629Z,1755760514.629 [DAT](INFO): DAT read: Tx time:07:15:13.9681

2025-08-21T07:15:14.629Z,1755760514.629 [DAT](INFO): Ping request sent.
2025-08-21T07:15:14.629Z,1755760514.629 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:15:14.630Z,1755760514.630 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:15:14.630Z,1755760514.630 [DAT](INFO): direction in FSK: [0.976523,0.132031,0.170209]
2025-08-21T07:15:14.631Z,1755760514.631 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:14.631Z,1755760514.631 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:14.634Z,1755760514.634 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:14.634Z,1755760514.634 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:14.775Z,1755760514.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 133.800003 m,
      deltaT: 3.540155 s,
      deltaX: -2.399994 m,
      approachRate: -0.677935 m/s,
      rangeRepo size: 4

2025-08-21T07:15:14.777Z,1755760514.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.048615 m,
      bearing: 17.082465 deg,
      lat: 36.779357 deg,
      lon: -121.859229 deg,
      deltaT: 3.540155 s,
      deltaX: -2.386765 m,
      approachRate: -0.674198 m/s,
      posRepo size: 4

2025-08-21T07:15:14.778Z,1755760514.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:14.789Z,1755760514.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 132.447906 m,
      bearing: 17.690138 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.103747 deg/s,
      cmd heading: 12.277134 deg,
      new cmd heading: 12.416929 deg.

2025-08-21T07:15:14.790Z,1755760514.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216716 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:15.169Z,1755760515.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:15.174Z,1755760515.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:15.178Z,1755760515.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 132.195892 m,
      bearing: 17.733106 deg,
      approach rate: -0.619104 m/s,
      LOS rate: 0.105757 deg/s,
      cmd heading: 12.416929 deg,
      new cmd heading: 12.546077 deg.

2025-08-21T07:15:15.179Z,1755760515.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.218970 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:15.364Z,1755760515.364 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:15.364Z,1755760515.364 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:15.365Z,1755760515.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:15.531Z,1755760515.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:15.534Z,1755760515.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 131.973984 m,
      bearing: 17.770828 deg,
      approach rate: -0.620470 m/s,
      LOS rate: 0.105651 deg/s,
      cmd heading: 12.546077 deg,
      new cmd heading: 12.659434 deg.

2025-08-21T07:15:15.535Z,1755760515.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.220949 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:15.617Z,1755760515.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987862
2025-08-21T07:15:15.871Z,1755760515.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240884
2025-08-21T07:15:15.986Z,1755760515.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:15.990Z,1755760515.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 131.691116 m,
      bearing: 17.817590 deg,
      approach rate: -0.621534 m/s,
      LOS rate: 0.102968 deg/s,
      cmd heading: 12.659435 deg,
      new cmd heading: 12.800020 deg.

2025-08-21T07:15:15.991Z,1755760515.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.223403 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:16.120Z,1755760516.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490876
2025-08-21T07:15:16.372Z,1755760516.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743088
2025-08-21T07:15:16.382Z,1755760516.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:16.388Z,1755760516.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 131.451080 m,
      bearing: 17.857098 deg,
      approach rate: -0.607154 m/s,
      LOS rate: 0.100116 deg/s,
      cmd heading: 12.800020 deg,
      new cmd heading: 12.918762 deg.

2025-08-21T07:15:16.389Z,1755760516.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225475 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:16.626Z,1755760516.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996140
2025-08-21T07:15:16.746Z,1755760516.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:16.749Z,1755760516.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 131.218307 m,
      bearing: 17.895315 deg,
      approach rate: -0.638884 m/s,
      LOS rate: 0.105078 deg/s,
      cmd heading: 12.918762 deg,
      new cmd heading: 13.033614 deg.

2025-08-21T07:15:16.750Z,1755760516.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227479 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:16.876Z,1755760516.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246908
2025-08-21T07:15:17.128Z,1755760517.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498978
2025-08-21T07:15:17.191Z,1755760517.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:17.193Z,1755760517.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:17.196Z,1755760517.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 130.935638 m,
      bearing: 17.939390 deg,
      approach rate: -0.631900 m/s,
      LOS rate: 0.098743 deg/s,
      cmd heading: 13.033615 deg,
      new cmd heading: 13.166127 deg.

2025-08-21T07:15:17.197Z,1755760517.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.229792 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:17.380Z,1755760517.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750876
2025-08-21T07:15:17.567Z,1755760517.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:17.586Z,1755760517.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 130.699036 m,
      bearing: 17.976438 deg,
      approach rate: -0.633414 m/s,
      LOS rate: 0.099360 deg/s,
      cmd heading: 13.166127 deg,
      new cmd heading: 13.277471 deg.

2025-08-21T07:15:17.586Z,1755760517.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.231736 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:17.633Z,1755760517.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003428
2025-08-21T07:15:17.886Z,1755760517.886 [DAT](INFO): DAT read: Rx Time:07:15:16.5475

2025-08-21T07:15:17.887Z,1755760517.887 [DAT](INFO): Rx dataTimestamp_ set to:1755760517.886420
2025-08-21T07:15:17.887Z,1755760517.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258104
2025-08-21T07:15:18.017Z,1755760518.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:18.036Z,1755760518.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 130.425110 m,
      bearing: 18.021964 deg,
      approach rate: -0.607943 m/s,
      LOS rate: 0.101251 deg/s,
      cmd heading: 13.277471 deg,
      new cmd heading: 13.414336 deg.

2025-08-21T07:15:18.037Z,1755760518.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.234124 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:18.137Z,1755760518.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507617
2025-08-21T07:15:18.373Z,1755760518.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:18.376Z,1755760518.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 130.205292 m,
      bearing: 18.058330 deg,
      approach rate: -0.617545 m/s,
      LOS rate: 0.102338 deg/s,
      cmd heading: 13.414335 deg,
      new cmd heading: 13.523618 deg.

2025-08-21T07:15:18.377Z,1755760518.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.236032 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:18.394Z,1755760518.394 [DAT](INFO): DAT read: 07:15:16.5475 LVL= 28144, 32753, 23938, 32755, AGC= 69, IDX= 415, 0.37, 0.483,-1.316, 0.488, 0.123, PHS= 0.462,-1.394, 0.320, RAW= 146.1,   6.9, CAL= 145.6,   7.5, ROT=   4.4,  -7.5

2025-08-21T07:15:18.395Z,1755760518.395 [DAT](INFO): got valid direction response:
 07:15:16.5475 LVL= 28144, 32753, 23938, 32755, AGC= 69, IDX= 415, 0.37, 0.483,-1.316, 0.488, 0.123, PHS= 0.462,-1.394, 0.320, RAW= 146.1,   6.9, CAL= 145.6,   7.5, ROT=   4.4,  -7.5

2025-08-21T07:15:18.396Z,1755760518.396 [DAT](INFO): DAT read: $Error in header

2025-08-21T07:15:18.396Z,1755760518.396 [DAT](INFO): Received a bad header
2025-08-21T07:15:18.413Z,1755760518.413 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T07:15:18.415Z,1755760518.415 [DAT](INFO): direction in FSK: [0.988523,0.076063,0.130526]
2025-08-21T07:15:18.418Z,1755760518.418 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:18.418Z,1755760518.418 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:18.418Z,1755760518.418 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:18.640Z,1755760518.640 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:18.640Z,1755760518.640 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:18.640Z,1755760518.640 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:18.771Z,1755760518.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:18.774Z,1755760518.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 129.957169 m,
      bearing: 18.099168 deg,
      approach rate: -0.623505 m/s,
      LOS rate: 0.102816 deg/s,
      cmd heading: 13.523618 deg,
      new cmd heading: 13.646365 deg.

2025-08-21T07:15:18.775Z,1755760518.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238174 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:18.892Z,1755760518.892 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:18.892Z,1755760518.892 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:18.892Z,1755760518.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:19.145Z,1755760519.145 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:19.145Z,1755760519.145 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:19.145Z,1755760519.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:19.240Z,1755760519.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:19.242Z,1755760519.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:19.248Z,1755760519.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 129.666046 m,
      bearing: 18.147675 deg,
      approach rate: -0.618834 m/s,
      LOS rate: 0.103342 deg/s,
      cmd heading: 13.646364 deg,
      new cmd heading: 13.792211 deg.

2025-08-21T07:15:19.252Z,1755760519.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.240719 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:19.396Z,1755760519.396 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:19.396Z,1755760519.396 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:19.396Z,1755760519.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:19.592Z,1755760519.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:19.595Z,1755760519.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 129.440628 m,
      bearing: 18.185067 deg,
      approach rate: -0.643361 m/s,
      LOS rate: 0.106906 deg/s,
      cmd heading: 13.792211 deg,
      new cmd heading: 13.904583 deg.

2025-08-21T07:15:19.596Z,1755760519.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.242681 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:19.649Z,1755760519.649 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:19.649Z,1755760519.649 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:19.649Z,1755760519.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:19.900Z,1755760519.900 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:19.900Z,1755760519.900 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:19.900Z,1755760519.900 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:20.050Z,1755760520.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:20.053Z,1755760520.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 129.155121 m,
      bearing: 18.231382 deg,
      approach rate: -0.623995 m/s,
      LOS rate: 0.101449 deg/s,
      cmd heading: 13.904583 deg,
      new cmd heading: 14.043836 deg.

2025-08-21T07:15:20.054Z,1755760520.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.245111 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:20.152Z,1755760520.152 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:20.153Z,1755760520.153 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:20.153Z,1755760520.153 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:20.395Z,1755760520.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:20.397Z,1755760520.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 128.939133 m,
      bearing: 18.266266 deg,
      approach rate: -0.625949 m/s,
      LOS rate: 0.101265 deg/s,
      cmd heading: 14.043836 deg,
      new cmd heading: 14.148662 deg.

2025-08-21T07:15:20.398Z,1755760520.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246941 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:20.404Z,1755760520.404 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:20.404Z,1755760520.404 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:20.404Z,1755760520.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:20.656Z,1755760520.656 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:20.656Z,1755760520.656 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:20.656Z,1755760520.656 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:20.784Z,1755760520.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:20.786Z,1755760520.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 128.695984 m,
      bearing: 18.305372 deg,
      approach rate: -0.625392 m/s,
      LOS rate: 0.100773 deg/s,
      cmd heading: 14.148663 deg,
      new cmd heading: 14.266202 deg.

2025-08-21T07:15:20.787Z,1755760520.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.248992 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:20.908Z,1755760520.908 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:20.908Z,1755760520.908 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:20.908Z,1755760520.908 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:21.161Z,1755760521.161 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:21.161Z,1755760521.161 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:21.161Z,1755760521.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:21.274Z,1755760521.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:21.277Z,1755760521.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:21.296Z,1755760521.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 128.392807 m,
      bearing: 18.355230 deg,
      approach rate: -0.614892 m/s,
      LOS rate: 0.101359 deg/s,
      cmd heading: 14.266202 deg,
      new cmd heading: 14.416129 deg.

2025-08-21T07:15:21.297Z,1755760521.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.251609 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:21.413Z,1755760521.413 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:21.413Z,1755760521.413 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:21.413Z,1755760521.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:21.664Z,1755760521.664 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:21.664Z,1755760521.664 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:21.664Z,1755760521.664 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:21.673Z,1755760521.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:21.676Z,1755760521.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 128.149628 m,
      bearing: 18.395086 deg,
      approach rate: -0.613290 m/s,
      LOS rate: 0.100706 deg/s,
      cmd heading: 14.416129 deg,
      new cmd heading: 14.535923 deg.

2025-08-21T07:15:21.677Z,1755760521.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253700 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:21.916Z,1755760521.916 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:21.916Z,1755760521.916 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:21.916Z,1755760521.916 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:22.169Z,1755760522.169 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:22.169Z,1755760522.169 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:22.169Z,1755760522.169 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:22.170Z,1755760522.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:22.178Z,1755760522.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 127.867409 m,
      bearing: 18.439119 deg,
      approach rate: -0.575702 m/s,
      LOS rate: 0.090022 deg/s,
      cmd heading: 14.535923 deg,
      new cmd heading: 14.668315 deg.

2025-08-21T07:15:22.179Z,1755760522.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.256010 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:22.421Z,1755760522.421 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:22.421Z,1755760522.421 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:22.421Z,1755760522.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:22.520Z,1755760522.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:22.523Z,1755760522.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 127.623306 m,
      bearing: 18.477035 deg,
      approach rate: -0.683527 m/s,
      LOS rate: 0.106374 deg/s,
      cmd heading: 14.668314 deg,
      new cmd heading: 14.782280 deg.

2025-08-21T07:15:22.544Z,1755760522.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.257999 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:22.672Z,1755760522.672 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:22.672Z,1755760522.672 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:22.672Z,1755760522.672 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:22.924Z,1755760522.924 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:22.924Z,1755760522.924 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:22.924Z,1755760522.924 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:22.967Z,1755760522.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:22.970Z,1755760522.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 127.373428 m,
      bearing: 18.515665 deg,
      approach rate: -0.620543 m/s,
      LOS rate: 0.096122 deg/s,
      cmd heading: 14.782280 deg,
      new cmd heading: 14.898398 deg.

2025-08-21T07:15:22.971Z,1755760522.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.260026 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:23.176Z,1755760523.176 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:23.177Z,1755760523.177 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:23.177Z,1755760523.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:23.406Z,1755760523.406 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:23.413Z,1755760523.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:23.417Z,1755760523.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 127.086494 m,
      bearing: 18.561485 deg,
      approach rate: -0.586100 m/s,
      LOS rate: 0.093804 deg/s,
      cmd heading: 14.898398 deg,
      new cmd heading: 15.036167 deg.

2025-08-21T07:15:23.418Z,1755760523.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262431 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:23.428Z,1755760523.428 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:23.428Z,1755760523.428 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:23.428Z,1755760523.428 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:23.684Z,1755760523.684 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:23.684Z,1755760523.684 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:23.684Z,1755760523.684 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:23.786Z,1755760523.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:23.789Z,1755760523.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 126.836853 m,
      bearing: 18.601144 deg,
      approach rate: -0.667876 m/s,
      LOS rate: 0.106310 deg/s,
      cmd heading: 15.036166 deg,
      new cmd heading: 15.155377 deg.

2025-08-21T07:15:23.790Z,1755760523.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.264511 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:23.932Z,1755760523.932 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:23.932Z,1755760523.932 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:23.932Z,1755760523.932 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:24.184Z,1755760524.184 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:24.184Z,1755760524.184 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:24.184Z,1755760524.184 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:24.245Z,1755760524.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:24.253Z,1755760524.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 126.569275 m,
      bearing: 18.644002 deg,
      approach rate: -0.583838 m/s,
      LOS rate: 0.093712 deg/s,
      cmd heading: 15.155377 deg,
      new cmd heading: 15.284224 deg.

2025-08-21T07:15:24.254Z,1755760524.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.266760 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:24.436Z,1755760524.436 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:24.436Z,1755760524.436 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:24.436Z,1755760524.436 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:24.638Z,1755760524.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:24.641Z,1755760524.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 126.311935 m,
      bearing: 18.685090 deg,
      approach rate: -0.654253 m/s,
      LOS rate: 0.104673 deg/s,
      cmd heading: 15.284223 deg,
      new cmd heading: 15.407737 deg.

2025-08-21T07:15:24.642Z,1755760524.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.268916 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:24.688Z,1755760524.688 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:24.688Z,1755760524.688 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:24.688Z,1755760524.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:24.940Z,1755760524.940 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:24.940Z,1755760524.940 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:24.940Z,1755760524.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:25.099Z,1755760525.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:25.101Z,1755760525.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 126.039581 m,
      bearing: 18.728770 deg,
      approach rate: -0.591384 m/s,
      LOS rate: 0.095051 deg/s,
      cmd heading: 15.407737 deg,
      new cmd heading: 15.539060 deg.

2025-08-21T07:15:25.102Z,1755760525.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.271208 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:25.192Z,1755760525.192 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:25.192Z,1755760525.192 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:25.193Z,1755760525.193 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:25.444Z,1755760525.444 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:25.444Z,1755760525.444 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:25.445Z,1755760525.445 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:25.476Z,1755760525.476 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:25.478Z,1755760525.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:25.485Z,1755760525.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 125.791786 m,
      bearing: 18.768143 deg,
      approach rate: -0.653520 m/s,
      LOS rate: 0.104044 deg/s,
      cmd heading: 15.539061 deg,
      new cmd heading: 15.657412 deg.

2025-08-21T07:15:25.486Z,1755760525.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273273 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:25.696Z,1755760525.696 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:25.697Z,1755760525.697 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:25.697Z,1755760525.697 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:25.850Z,1755760525.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:25.852Z,1755760525.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 125.554436 m,
      bearing: 18.805717 deg,
      approach rate: -0.638260 m/s,
      LOS rate: 0.101232 deg/s,
      cmd heading: 15.657413 deg,
      new cmd heading: 15.770348 deg.

2025-08-21T07:15:25.853Z,1755760525.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.275245 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:25.948Z,1755760525.948 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:25.949Z,1755760525.949 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:25.949Z,1755760525.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:26.200Z,1755760526.200 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:26.200Z,1755760526.200 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:26.200Z,1755760526.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:26.283Z,1755760526.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:26.290Z,1755760526.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 125.290352 m,
      bearing: 18.847358 deg,
      approach rate: -0.609609 m/s,
      LOS rate: 0.096326 deg/s,
      cmd heading: 15.770348 deg,
      new cmd heading: 15.895534 deg.

2025-08-21T07:15:26.290Z,1755760526.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.277429 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:26.452Z,1755760526.452 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:26.452Z,1755760526.452 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:26.452Z,1755760526.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:26.656Z,1755760526.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:26.658Z,1755760526.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 125.053680 m,
      bearing: 18.884620 deg,
      approach rate: -0.635237 m/s,
      LOS rate: 0.100203 deg/s,
      cmd heading: 15.895534 deg,
      new cmd heading: 16.007532 deg.

2025-08-21T07:15:26.659Z,1755760526.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279384 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:26.705Z,1755760526.705 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:26.705Z,1755760526.705 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:26.706Z,1755760526.706 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:26.956Z,1755760526.956 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:26.956Z,1755760526.956 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:26.956Z,1755760526.956 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:27.122Z,1755760527.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:27.129Z,1755760527.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 124.793839 m,
      bearing: 18.925459 deg,
      approach rate: -0.557228 m/s,
      LOS rate: 0.087760 deg/s,
      cmd heading: 16.007532 deg,
      new cmd heading: 16.130303 deg.

2025-08-21T07:15:27.130Z,1755760527.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.281527 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:27.209Z,1755760527.209 [DAT](INFO): DAT read: Response Not Received

2025-08-21T07:15:27.210Z,1755760527.210 [DAT](INFO): response not received
2025-08-21T07:15:27.210Z,1755760527.210 [DAT](INFO): DAT read: user:2136>

2025-08-21T07:15:27.211Z,1755760527.211 [DAT](INFO): DAT read: Tx time:07:15:26.4181

2025-08-21T07:15:27.212Z,1755760527.212 [DAT](INFO): Ping request sent.
2025-08-21T07:15:27.212Z,1755760527.212 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:15:27.212Z,1755760527.212 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:27.213Z,1755760527.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001094
2025-08-21T07:15:27.460Z,1755760527.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248466
2025-08-21T07:15:27.505Z,1755760527.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:27.507Z,1755760527.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:27.509Z,1755760527.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 124.531342 m,
      bearing: 18.967591 deg,
      approach rate: -0.681801 m/s,
      LOS rate: 0.109665 deg/s,
      cmd heading: 16.130303 deg,
      new cmd heading: 16.256968 deg.

2025-08-21T07:15:27.510Z,1755760527.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.283738 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:27.715Z,1755760527.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503115
2025-08-21T07:15:27.884Z,1755760527.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:27.886Z,1755760527.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 124.302162 m,
      bearing: 19.004281 deg,
      approach rate: -0.607593 m/s,
      LOS rate: 0.097449 deg/s,
      cmd heading: 16.256967 deg,
      new cmd heading: 16.367238 deg.

2025-08-21T07:15:27.888Z,1755760527.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.285662 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:27.964Z,1755760527.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752497
2025-08-21T07:15:28.216Z,1755760528.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004589
2025-08-21T07:15:28.329Z,1755760528.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:28.343Z,1755760528.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 124.020882 m,
      bearing: 19.048194 deg,
      approach rate: -0.632418 m/s,
      LOS rate: 0.098955 deg/s,
      cmd heading: 16.367239 deg,
      new cmd heading: 16.499276 deg.

2025-08-21T07:15:28.344Z,1755760528.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.287967 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:28.468Z,1755760528.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256394
2025-08-21T07:15:28.692Z,1755760528.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:28.695Z,1755760528.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 123.789101 m,
      bearing: 19.084537 deg,
      approach rate: -0.637316 m/s,
      LOS rate: 0.100119 deg/s,
      cmd heading: 16.499276 deg,
      new cmd heading: 16.608511 deg.

2025-08-21T07:15:28.696Z,1755760528.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.289873 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:28.720Z,1755760528.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508314
2025-08-21T07:15:28.972Z,1755760528.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760389
2025-08-21T07:15:29.161Z,1755760529.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:29.170Z,1755760529.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 123.521423 m,
      bearing: 19.125994 deg,
      approach rate: -0.570988 m/s,
      LOS rate: 0.088623 deg/s,
      cmd heading: 16.608512 deg,
      new cmd heading: 16.733151 deg.

2025-08-21T07:15:29.175Z,1755760529.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292049 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:29.225Z,1755760529.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013594
2025-08-21T07:15:29.276Z,1755760529.276 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:15:29.476Z,1755760529.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264266
2025-08-21T07:15:29.573Z,1755760529.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:29.576Z,1755760529.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:29.578Z,1755760529.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 123.234138 m,
      bearing: 19.168294 deg,
      approach rate: -0.693593 m/s,
      LOS rate: 0.102363 deg/s,
      cmd heading: 16.733151 deg,
      new cmd heading: 16.860347 deg.

2025-08-21T07:15:29.603Z,1755760529.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.294269 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:29.728Z,1755760529.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516616
2025-08-21T07:15:29.973Z,1755760529.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:29.976Z,1755760529.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 122.991310 m,
      bearing: 19.204211 deg,
      approach rate: -0.610826 m/s,
      LOS rate: 0.090527 deg/s,
      cmd heading: 16.860346 deg,
      new cmd heading: 16.968310 deg.

2025-08-21T07:15:29.977Z,1755760529.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.296153 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:29.980Z,1755760529.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768514
2025-08-21T07:15:30.232Z,1755760530.232 [DAT](INFO): DAT read: Rx Time:07:15:28.9865

2025-08-21T07:15:30.233Z,1755760530.233 [DAT](INFO): Rx dataTimestamp_ set to:1755760530.232462
2025-08-21T07:15:30.233Z,1755760530.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021425
2025-08-21T07:15:30.280Z,1755760530.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:15:30.372Z,1755760530.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:30.374Z,1755760530.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 122.722633 m,
      bearing: 19.241226 deg,
      approach rate: -0.673200 m/s,
      LOS rate: 0.092948 deg/s,
      cmd heading: 16.968311 deg,
      new cmd heading: 17.079598 deg.

2025-08-21T07:15:30.396Z,1755760530.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.298095 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:30.485Z,1755760530.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272656
2025-08-21T07:15:30.742Z,1755760530.742 [DAT](INFO): DAT read: 07:15:28.9865 LVL= 30784, 32753, 32226, 32755, AGC= 68, IDX= 335, 0.35,-0.437,-2.059,-0.197,-0.660, PHS= 0.326,-1.354, 0.420, RAW= 152.7,   7.1, CAL= 152.1,   7.4, ROT= 357.9,  -7.4

2025-08-21T07:15:30.744Z,1755760530.744 [DAT](INFO): got valid direction response:
 07:15:28.9865 LVL= 30784, 32753, 32226, 32755, AGC= 68, IDX= 335, 0.35,-0.437,-2.059,-0.197,-0.660, PHS= 0.326,-1.354, 0.420, RAW= 152.7,   7.1, CAL= 152.1,   7.4, ROT= 357.9,  -7.4

2025-08-21T07:15:30.744Z,1755760530.744 [DAT](INFO): DAT read: $Error in header

2025-08-21T07:15:30.744Z,1755760530.744 [DAT](INFO): Received a bad header
2025-08-21T07:15:30.755Z,1755760530.755 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-21T07:15:30.756Z,1755760530.756 [DAT](INFO): direction in FSK: [0.991005,-0.036339,0.128796]
2025-08-21T07:15:30.760Z,1755760530.760 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:30.760Z,1755760530.760 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:30.760Z,1755760530.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:30.762Z,1755760530.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:30.812Z,1755760530.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 122.473320 m,
      bearing: 19.275368 deg,
      approach rate: -0.639136 m/s,
      LOS rate: 0.087705 deg/s,
      cmd heading: 17.079598 deg,
      new cmd heading: 17.182234 deg.

2025-08-21T07:15:30.813Z,1755760530.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.299887 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:30.988Z,1755760530.988 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:30.988Z,1755760530.988 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:30.988Z,1755760530.988 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:31.229Z,1755760531.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:31.232Z,1755760531.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 122.177010 m,
      bearing: 19.316079 deg,
      approach rate: -0.633917 m/s,
      LOS rate: 0.087307 deg/s,
      cmd heading: 17.182234 deg,
      new cmd heading: 17.304663 deg.

2025-08-21T07:15:31.233Z,1755760531.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.302023 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:31.240Z,1755760531.240 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:31.240Z,1755760531.240 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:31.240Z,1755760531.240 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:31.493Z,1755760531.493 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:31.493Z,1755760531.493 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:31.493Z,1755760531.493 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:31.574Z,1755760531.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:31.576Z,1755760531.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:31.579Z,1755760531.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 121.953964 m,
      bearing: 19.346516 deg,
      approach rate: -0.642965 m/s,
      LOS rate: 0.087899 deg/s,
      cmd heading: 17.304663 deg,
      new cmd heading: 17.396140 deg.

2025-08-21T07:15:31.580Z,1755760531.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.303620 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:31.744Z,1755760531.744 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:31.744Z,1755760531.744 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:31.744Z,1755760531.744 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:31.984Z,1755760531.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:31.986Z,1755760531.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 121.705734 m,
      bearing: 19.380177 deg,
      approach rate: -0.634776 m/s,
      LOS rate: 0.086255 deg/s,
      cmd heading: 17.396140 deg,
      new cmd heading: 17.497330 deg.

2025-08-21T07:15:31.987Z,1755760531.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.305386 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:31.996Z,1755760531.996 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:31.996Z,1755760531.996 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:31.996Z,1755760531.996 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:32.249Z,1755760532.249 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:32.249Z,1755760532.249 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:32.249Z,1755760532.249 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:32.413Z,1755760532.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:32.416Z,1755760532.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 121.426270 m,
      bearing: 19.416225 deg,
      approach rate: -0.627202 m/s,
      LOS rate: 0.081088 deg/s,
      cmd heading: 17.497329 deg,
      new cmd heading: 17.605721 deg.

2025-08-21T07:15:32.417Z,1755760532.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.307278 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:32.500Z,1755760532.500 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:32.501Z,1755760532.501 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:32.501Z,1755760532.501 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:32.752Z,1755760532.752 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:32.752Z,1755760532.752 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:32.752Z,1755760532.752 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:32.821Z,1755760532.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:32.833Z,1755760532.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 121.164177 m,
      bearing: 19.449780 deg,
      approach rate: -0.642067 m/s,
      LOS rate: 0.082379 deg/s,
      cmd heading: 17.605721 deg,
      new cmd heading: 17.706603 deg.

2025-08-21T07:15:32.834Z,1755760532.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.309039 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:33.004Z,1755760533.004 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:33.004Z,1755760533.004 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:33.004Z,1755760533.004 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:33.256Z,1755760533.256 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:33.256Z,1755760533.256 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:33.256Z,1755760533.256 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:33.257Z,1755760533.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:33.260Z,1755760533.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 120.877419 m,
      bearing: 19.486048 deg,
      approach rate: -0.660746 m/s,
      LOS rate: 0.083766 deg/s,
      cmd heading: 17.706603 deg,
      new cmd heading: 17.815664 deg.

2025-08-21T07:15:33.261Z,1755760533.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.310942 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:33.510Z,1755760533.510 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:33.510Z,1755760533.510 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:33.510Z,1755760533.510 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:33.606Z,1755760533.606 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:33.608Z,1755760533.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:33.611Z,1755760533.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 120.651588 m,
      bearing: 19.514460 deg,
      approach rate: -0.639756 m/s,
      LOS rate: 0.080640 deg/s,
      cmd heading: 17.815664 deg,
      new cmd heading: 17.901061 deg.

2025-08-21T07:15:33.629Z,1755760533.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312432 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:33.760Z,1755760533.760 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:33.760Z,1755760533.760 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:33.760Z,1755760533.760 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:34.010Z,1755760534.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:34.012Z,1755760534.012 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:34.012Z,1755760534.012 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:34.012Z,1755760534.012 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:34.014Z,1755760534.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 120.392532 m,
      bearing: 19.546822 deg,
      approach rate: -0.644314 m/s,
      LOS rate: 0.080662 deg/s,
      cmd heading: 17.901060 deg,
      new cmd heading: 17.998355 deg.

2025-08-21T07:15:34.016Z,1755760534.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.314131 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:34.264Z,1755760534.264 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:34.264Z,1755760534.264 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:34.264Z,1755760534.264 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:34.457Z,1755760534.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:34.460Z,1755760534.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 120.109169 m,
      bearing: 19.581964 deg,
      approach rate: -0.633738 m/s,
      LOS rate: 0.078781 deg/s,
      cmd heading: 17.998354 deg,
      new cmd heading: 18.104030 deg.

2025-08-21T07:15:34.461Z,1755760534.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.315975 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:34.517Z,1755760534.517 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:34.517Z,1755760534.517 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:34.517Z,1755760534.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:34.768Z,1755760534.768 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:34.768Z,1755760534.768 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:34.768Z,1755760534.768 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:34.864Z,1755760534.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:34.867Z,1755760534.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 119.856117 m,
      bearing: 19.613088 deg,
      approach rate: -0.621805 m/s,
      LOS rate: 0.076640 deg/s,
      cmd heading: 18.104029 deg,
      new cmd heading: 18.197598 deg.

2025-08-21T07:15:34.872Z,1755760534.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.317608 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:35.020Z,1755760535.020 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:35.020Z,1755760535.020 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:35.020Z,1755760535.020 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:35.273Z,1755760535.273 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:35.274Z,1755760535.274 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:35.274Z,1755760535.274 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:35.297Z,1755760535.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:35.302Z,1755760535.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 119.590416 m,
      bearing: 19.647277 deg,
      approach rate: -0.614015 m/s,
      LOS rate: 0.079183 deg/s,
      cmd heading: 18.197598 deg,
      new cmd heading: 18.300392 deg.

2025-08-21T07:15:35.304Z,1755760535.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.319402 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:35.525Z,1755760535.525 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:35.525Z,1755760535.525 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:35.525Z,1755760535.525 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:35.645Z,1755760535.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:35.647Z,1755760535.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:35.650Z,1755760535.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 119.370872 m,
      bearing: 19.675645 deg,
      approach rate: -0.627211 m/s,
      LOS rate: 0.081194 deg/s,
      cmd heading: 18.300392 deg,
      new cmd heading: 18.385653 deg.

2025-08-21T07:15:35.651Z,1755760535.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.320890 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:35.780Z,1755760535.780 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:35.780Z,1755760535.780 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:35.780Z,1755760535.780 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:36.031Z,1755760536.031 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:36.031Z,1755760536.031 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:36.031Z,1755760536.031 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:36.041Z,1755760536.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:36.043Z,1755760536.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 119.129112 m,
      bearing: 19.706803 deg,
      approach rate: -0.614403 m/s,
      LOS rate: 0.079343 deg/s,
      cmd heading: 18.385653 deg,
      new cmd heading: 18.479315 deg.

2025-08-21T07:15:36.044Z,1755760536.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.322525 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:36.281Z,1755760536.281 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:36.281Z,1755760536.281 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:36.281Z,1755760536.281 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:36.473Z,1755760536.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:36.476Z,1755760536.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 118.861603 m,
      bearing: 19.742786 deg,
      approach rate: -0.618852 m/s,
      LOS rate: 0.083430 deg/s,
      cmd heading: 18.479316 deg,
      new cmd heading: 18.587508 deg.

2025-08-21T07:15:36.477Z,1755760536.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.324413 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:36.533Z,1755760536.533 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:36.533Z,1755760536.533 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:36.533Z,1755760536.533 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:36.785Z,1755760536.785 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:36.785Z,1755760536.785 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:36.786Z,1755760536.786 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:36.864Z,1755760536.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:36.867Z,1755760536.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 118.621559 m,
      bearing: 19.774968 deg,
      approach rate: -0.613416 m/s,
      LOS rate: 0.082405 deg/s,
      cmd heading: 18.587508 deg,
      new cmd heading: 18.684249 deg.

2025-08-21T07:15:36.880Z,1755760536.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326102 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:37.036Z,1755760537.036 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:37.036Z,1755760537.036 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:37.036Z,1755760537.036 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-08-21T07:15:37.288Z,1755760537.288 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:37.289Z,1755760537.289 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:37.289Z,1755760537.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:37.350Z,1755760537.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:37.357Z,1755760537.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 118.315758 m,
      bearing: 19.815842 deg,
      approach rate: -0.629366 m/s,
      LOS rate: 0.084340 deg/s,
      cmd heading: 18.684249 deg,
      new cmd heading: 18.807188 deg.

2025-08-21T07:15:37.358Z,1755760537.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328247 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:37.540Z,1755760537.540 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:37.540Z,1755760537.540 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:37.541Z,1755760537.541 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:37.703Z,1755760537.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:37.705Z,1755760537.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:37.708Z,1755760537.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 118.085175 m,
      bearing: 19.846681 deg,
      approach rate: -0.649565 m/s,
      LOS rate: 0.087045 deg/s,
      cmd heading: 18.807189 deg,
      new cmd heading: 18.899886 deg.

2025-08-21T07:15:37.709Z,1755760537.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329865 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:37.793Z,1755760537.793 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:37.793Z,1755760537.793 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:37.794Z,1755760537.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:38.044Z,1755760538.044 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:38.044Z,1755760538.044 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:38.044Z,1755760538.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:38.111Z,1755760538.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:38.114Z,1755760538.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 117.826958 m,
      bearing: 19.881123 deg,
      approach rate: -0.636297 m/s,
      LOS rate: 0.085059 deg/s,
      cmd heading: 18.899886 deg,
      new cmd heading: 19.003440 deg.

2025-08-21T07:15:38.115Z,1755760538.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.331673 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:38.296Z,1755760538.296 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:38.296Z,1755760538.296 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:38.297Z,1755760538.297 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:38.528Z,1755760538.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:38.530Z,1755760538.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 117.569633 m,
      bearing: 19.917967 deg,
      approach rate: -0.617670 m/s,
      LOS rate: 0.088631 deg/s,
      cmd heading: 19.003441 deg,
      new cmd heading: 19.114213 deg.

2025-08-21T07:15:38.531Z,1755760538.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.333606 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:38.548Z,1755760538.548 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:38.548Z,1755760538.548 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:38.548Z,1755760538.548 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:38.800Z,1755760538.800 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:38.800Z,1755760538.800 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:38.800Z,1755760538.800 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:38.915Z,1755760538.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:38.918Z,1755760538.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 117.330574 m,
      bearing: 19.952149 deg,
      approach rate: -0.617656 m/s,
      LOS rate: 0.088496 deg/s,
      cmd heading: 19.114213 deg,
      new cmd heading: 19.216967 deg.

2025-08-21T07:15:38.919Z,1755760538.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.335399 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:39.054Z,1755760539.054 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:39.054Z,1755760539.054 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:39.054Z,1755760539.054 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:39.304Z,1755760539.304 [DAT](INFO): Reached modem response timeout
2025-08-21T07:15:39.304Z,1755760539.304 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:15:39.304Z,1755760539.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:39.358Z,1755760539.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:39.361Z,1755760539.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 117.052567 m,
      bearing: 19.991867 deg,
      approach rate: -0.626528 m/s,
      LOS rate: 0.089724 deg/s,
      cmd heading: 19.216968 deg,
      new cmd heading: 19.336407 deg.

2025-08-21T07:15:39.362Z,1755760539.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.337484 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:39.557Z,1755760539.557 [DAT](INFO): DAT read: Response Not Received

2025-08-21T07:15:39.557Z,1755760539.557 [DAT](INFO): response not received
2025-08-21T07:15:39.558Z,1755760539.558 [DAT](INFO): DAT read: user:2138>

2025-08-21T07:15:39.559Z,1755760539.559 [DAT](INFO): DAT read: Tx time:07:15:38.8680

2025-08-21T07:15:39.559Z,1755760539.559 [DAT](INFO): Ping request sent.
2025-08-21T07:15:39.559Z,1755760539.559 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:15:39.559Z,1755760539.559 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:39.560Z,1755760539.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000878
2025-08-21T07:15:39.718Z,1755760539.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:39.720Z,1755760539.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:39.722Z,1755760539.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 116.826057 m,
      bearing: 20.024255 deg,
      approach rate: -0.626323 m/s,
      LOS rate: 0.089729 deg/s,
      cmd heading: 19.336407 deg,
      new cmd heading: 19.433758 deg.

2025-08-21T07:15:39.724Z,1755760539.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.339183 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:39.809Z,1755760539.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249575
2025-08-21T07:15:40.060Z,1755760540.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501201
2025-08-21T07:15:40.129Z,1755760540.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:40.132Z,1755760540.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 116.577789 m,
      bearing: 20.059845 deg,
      approach rate: -0.606159 m/s,
      LOS rate: 0.087079 deg/s,
      cmd heading: 19.433758 deg,
      new cmd heading: 19.540754 deg.

2025-08-21T07:15:40.133Z,1755760540.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.341051 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:40.312Z,1755760540.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753350
2025-08-21T07:15:40.547Z,1755760540.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:40.549Z,1755760540.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 116.311996 m,
      bearing: 20.095034 deg,
      approach rate: -0.637006 m/s,
      LOS rate: 0.084529 deg/s,
      cmd heading: 19.540755 deg,
      new cmd heading: 19.646564 deg.

2025-08-21T07:15:40.550Z,1755760540.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342897 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:40.564Z,1755760540.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005374
2025-08-21T07:15:40.816Z,1755760540.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257237
2025-08-21T07:15:40.950Z,1755760540.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:40.957Z,1755760540.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 116.068573 m,
      bearing: 20.127335 deg,
      approach rate: -0.604049 m/s,
      LOS rate: 0.080321 deg/s,
      cmd heading: 19.646564 deg,
      new cmd heading: 19.743669 deg.

2025-08-21T07:15:40.958Z,1755760540.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.344592 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:41.068Z,1755760541.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509236
2025-08-21T07:15:41.325Z,1755760541.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763843
2025-08-21T07:15:41.391Z,1755760541.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:41.394Z,1755760541.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 115.792694 m,
      bearing: 20.164468 deg,
      approach rate: -0.625345 m/s,
      LOS rate: 0.084372 deg/s,
      cmd heading: 19.743669 deg,
      new cmd heading: 19.855334 deg.

2025-08-21T07:15:41.395Z,1755760541.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.346541 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:41.572Z,1755760541.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013205
2025-08-21T07:15:41.734Z,1755760541.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:41.736Z,1755760541.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:41.738Z,1755760541.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 115.581093 m,
      bearing: 20.192933 deg,
      approach rate: -0.613362 m/s,
      LOS rate: 0.082663 deg/s,
      cmd heading: 19.855334 deg,
      new cmd heading: 19.940887 deg.

2025-08-21T07:15:41.756Z,1755760541.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.348034 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:41.826Z,1755760541.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266451
2025-08-21T07:15:42.076Z,1755760542.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517284
2025-08-21T07:15:42.146Z,1755760542.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:42.150Z,1755760542.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 115.330856 m,
      bearing: 20.226532 deg,
      approach rate: -0.610999 m/s,
      LOS rate: 0.082216 deg/s,
      cmd heading: 19.940888 deg,
      new cmd heading: 20.041902 deg.

2025-08-21T07:15:42.151Z,1755760542.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349797 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:42.328Z,1755760542.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769180
2025-08-21T07:15:42.574Z,1755760542.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:42.578Z,1755760542.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 115.056015 m,
      bearing: 20.262557 deg,
      approach rate: -0.645114 m/s,
      LOS rate: 0.084761 deg/s,
      cmd heading: 20.041903 deg,
      new cmd heading: 20.150236 deg.

2025-08-21T07:15:42.580Z,1755760542.580 [DAT](INFO): DAT read: Rx Time:07:15:41.4256

2025-08-21T07:15:42.581Z,1755760542.581 [DAT](INFO): Rx dataTimestamp_ set to:1755760542.580612
2025-08-21T07:15:42.581Z,1755760542.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022474
2025-08-21T07:15:42.582Z,1755760542.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.351688 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:42.834Z,1755760542.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274283
2025-08-21T07:15:42.956Z,1755760542.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.05 m.
2025-08-21T07:15:42.958Z,1755760542.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.048615 m,
      nav range: 114.809540 m,
      bearing: 20.294790 deg,
      approach rate: -0.641777 m/s,
      LOS rate: 0.084108 deg/s,
      cmd heading: 20.150236 deg,
      new cmd heading: 20.247141 deg.

2025-08-21T07:15:42.959Z,1755760542.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.353379 target range: 133.048615 and range: 133.80 m.
2025-08-21T07:15:43.087Z,1755760543.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527420
2025-08-21T07:15:43.364Z,1755760543.364 [DAT](INFO): DAT read: 07:15:41.4256 LVL= 32048, 32753, 24802, 32755, AGC= 70, IDX= 336, 0.08,-1.986, 2.632,-1.672,-2.147, PHS= 0.262,-1.459, 0.431, RAW= 154.6,   8.5, CAL= 154.2,   9.0, ROT= 355.8,  -9.0

2025-08-21T07:15:43.365Z,1755760543.365 [DAT](INFO): got valid direction response:
 07:15:41.4256 LVL= 32048, 32753, 24802, 32755, AGC= 70, IDX= 336, 0.08,-1.986, 2.632,-1.672,-2.147, PHS= 0.262,-1.459, 0.431, RAW= 154.6,   8.5, CAL= 154.2,   9.0, ROT= 355.8,  -9.0

2025-08-21T07:15:43.366Z,1755760543.366 [DAT](INFO): DAT read: Bearing 185.5,  -2.3 (Local)

2025-08-21T07:15:43.366Z,1755760543.366 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.5,  -2.3 (Local)

2025-08-21T07:15:43.376Z,1755760543.376 [DAT](INFO): DAT read: Range 11 to 50 : 115.1 m  (Round-trip  153.5 ms) speed  0.4 m/s

2025-08-21T07:15:43.377Z,1755760543.377 [DAT](INFO): DAT read: user:2139>

2025-08-21T07:15:43.378Z,1755760543.378 [DAT](INFO): DAT read: Tx time:07:15:42.5180

2025-08-21T07:15:43.378Z,1755760543.378 [DAT](INFO): Ping request sent.
2025-08-21T07:15:43.378Z,1755760543.378 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:15:43.378Z,1755760543.378 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:15:43.384Z,1755760543.384 [DAT](INFO): direction in FSK: [0.985036,-0.072337,0.156434]
2025-08-21T07:15:43.384Z,1755760543.384 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:43.384Z,1755760543.384 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:43.391Z,1755760543.391 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:43.392Z,1755760543.392 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:43.508Z,1755760543.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 115.099998 m,
      deltaT: 28.725459 s,
      deltaX: -18.700005 m,
      approachRate: -0.650991 m/s,
      rangeRepo size: 4

2025-08-21T07:15:43.511Z,1755760543.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.457085 m,
      bearing: 14.539677 deg,
      lat: 36.779357 deg,
      lon: -121.859229 deg,
      deltaT: 28.725459 s,
      deltaX: -18.591530 m,
      approachRate: -0.647214 m/s,
      posRepo size: 4

2025-08-21T07:15:43.515Z,1755760543.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-08-21T07:15:43.518Z,1755760543.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457085 m,
      nav range: 114.486946 m,
      bearing: 20.337700 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.084108 deg/s,
      cmd heading: 20.247141 deg,
      new cmd heading: 20.384244 deg.

2025-08-21T07:15:43.519Z,1755760543.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.355772 target range: 114.457085 and range: 115.10 m.
2025-08-21T07:15:43.852Z,1755760543.852 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:43.854Z,1755760543.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-08-21T07:15:43.857Z,1755760543.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457085 m,
      nav range: 114.255188 m,
      bearing: 20.368447 deg,
      approach rate: -0.651956 m/s,
      LOS rate: 0.086670 deg/s,
      cmd heading: 20.384244 deg,
      new cmd heading: 20.476673 deg.

2025-08-21T07:15:43.858Z,1755760543.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357385 target range: 114.457085 and range: 115.10 m.
2025-08-21T07:15:44.094Z,1755760544.094 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:44.095Z,1755760544.095 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:44.095Z,1755760544.095 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:44.351Z,1755760544.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972240
2025-08-21T07:15:44.375Z,1755760544.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-08-21T07:15:44.381Z,1755760544.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457085 m,
      nav range: 113.938690 m,
      bearing: 20.410364 deg,
      approach rate: -0.608252 m/s,
      LOS rate: 0.080780 deg/s,
      cmd heading: 20.476673 deg,
      new cmd heading: 20.602772 deg.

2025-08-21T07:15:44.382Z,1755760544.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.359586 target range: 114.457085 and range: 115.10 m.
2025-08-21T07:15:44.600Z,1755760544.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222002
2025-08-21T07:15:44.793Z,1755760544.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-08-21T07:15:44.800Z,1755760544.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457085 m,
      nav range: 113.660027 m,
      bearing: 20.446423 deg,
      approach rate: -0.665656 m/s,
      LOS rate: 0.086347 deg/s,
      cmd heading: 20.602772 deg,
      new cmd heading: 20.711215 deg.

2025-08-21T07:15:44.801Z,1755760544.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.361479 target range: 114.457085 and range: 115.10 m.
2025-08-21T07:15:44.853Z,1755760544.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474488
2025-08-21T07:15:45.104Z,1755760545.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726132
2025-08-21T07:15:45.296Z,1755760545.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-08-21T07:15:45.299Z,1755760545.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457085 m,
      nav range: 113.337234 m,
      bearing: 20.487679 deg,
      approach rate: -0.643144 m/s,
      LOS rate: 0.082435 deg/s,
      cmd heading: 20.711215 deg,
      new cmd heading: 20.835337 deg.

2025-08-21T07:15:45.305Z,1755760545.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.363645 target range: 114.457085 and range: 115.10 m.
2025-08-21T07:15:45.360Z,1755760545.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980835
2025-08-21T07:15:45.608Z,1755760545.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230326
2025-08-21T07:15:45.720Z,1755760545.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-08-21T07:15:45.723Z,1755760545.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457085 m,
      nav range: 113.058838 m,
      bearing: 20.519638 deg,
      approach rate: -0.654877 m/s,
      LOS rate: 0.075360 deg/s,
      cmd heading: 20.835337 deg,
      new cmd heading: 20.931447 deg.

2025-08-21T07:15:45.728Z,1755760545.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.365323 target range: 114.457085 and range: 115.10 m.
2025-08-21T07:15:45.860Z,1755760545.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482205
2025-08-21T07:15:46.081Z,1755760546.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:46.083Z,1755760546.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-08-21T07:15:46.085Z,1755760546.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457085 m,
      nav range: 112.810455 m,
      bearing: 20.548061 deg,
      approach rate: -0.685670 m/s,
      LOS rate: 0.078636 deg/s,
      cmd heading: 20.931446 deg,
      new cmd heading: 21.016903 deg.

2025-08-21T07:15:46.086Z,1755760546.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.366814 target range: 114.457085 and range: 115.10 m.
2025-08-21T07:15:46.125Z,1755760546.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747102
2025-08-21T07:15:46.380Z,1755760546.380 [DAT](INFO): DAT read: Rx Time:07:15:45.0725

2025-08-21T07:15:46.381Z,1755760546.381 [DAT](INFO): Rx dataTimestamp_ set to:1755760546.380420
2025-08-21T07:15:46.383Z,1755760546.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004548
2025-08-21T07:15:46.532Z,1755760546.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.46 m.
2025-08-21T07:15:46.535Z,1755760546.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.457085 m,
      nav range: 112.536224 m,
      bearing: 20.584131 deg,
      approach rate: -0.622320 m/s,
      LOS rate: 0.082056 deg/s,
      cmd heading: 21.016904 deg,
      new cmd heading: 21.125379 deg.

2025-08-21T07:15:46.540Z,1755760546.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.368707 target range: 114.457085 and range: 115.10 m.
2025-08-21T07:15:46.629Z,1755760546.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250899
2025-08-21T07:15:46.886Z,1755760546.886 [DAT](INFO): DAT read: 07:15:45.0725 LVL= 24880, 32753, 24930, 32755, AGC= 70, IDX= 416, 0.10,-1.050,-2.663,-0.742,-1.221, PHS= 0.273,-1.397, 0.436, RAW= 154.6,   7.9, CAL= 154.1,   8.3, ROT= 355.9,  -8.3

2025-08-21T07:15:46.887Z,1755760546.887 [DAT](INFO): got valid direction response:
 07:15:45.0725 LVL= 24880, 32753, 24930, 32755, AGC= 70, IDX= 416, 0.10,-1.050,-2.663,-0.742,-1.221, PHS= 0.273,-1.397, 0.436, RAW= 154.6,   7.9, CAL= 154.1,   8.3, ROT= 355.9,  -8.3

2025-08-21T07:15:46.888Z,1755760546.888 [DAT](INFO): DAT read: Bearing 185.9,  -2.0 (Local)

2025-08-21T07:15:46.889Z,1755760546.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 185.9,  -2.0 (Local)

2025-08-21T07:15:46.890Z,1755760546.890 [DAT](INFO): DAT read: Range 11 to 50 : 112.7 m  (Round-trip  150.3 ms) speed  0.7 m/s

2025-08-21T07:15:46.891Z,1755760546.891 [DAT](INFO): DAT read: user:2140>

2025-08-21T07:15:46.892Z,1755760546.892 [DAT](INFO): DAT read: Tx time:07:15:46.1680

2025-08-21T07:15:46.892Z,1755760546.892 [DAT](INFO): Ping request sent.
2025-08-21T07:15:46.892Z,1755760546.892 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:15:46.892Z,1755760546.892 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:15:46.893Z,1755760546.893 [DAT](INFO): direction in FSK: [0.986993,-0.070749,0.144356]
2025-08-21T07:15:46.894Z,1755760546.894 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:46.894Z,1755760546.894 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:46.897Z,1755760546.897 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:46.897Z,1755760546.897 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:46.948Z,1755760546.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 112.699997 m,
      deltaT: 3.542427 s,
      deltaX: -2.400002 m,
      approachRate: -0.677502 m/s,
      rangeRepo size: 4

2025-08-21T07:15:46.950Z,1755760546.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 112.073746 m,
      bearing: 15.615245 deg,
      lat: 36.779359 deg,
      lon: -121.859245 deg,
      deltaT: 3.542427 s,
      deltaX: -2.383339 m,
      approachRate: -0.672798 m/s,
      posRepo size: 4

2025-08-21T07:15:46.955Z,1755760546.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.07 m.
2025-08-21T07:15:46.958Z,1755760546.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.073746 m,
      nav range: 112.000877 m,
      bearing: 19.905021 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.082056 deg/s,
      cmd heading: 21.125379 deg,
      new cmd heading: 21.221799 deg.

2025-08-21T07:15:46.959Z,1755760546.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.370390 target range: 112.073746 and range: 112.70 m.
2025-08-21T07:15:47.301Z,1755760547.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.07 m.
2025-08-21T07:15:47.326Z,1755760547.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.073746 m,
      nav range: 111.757004 m,
      bearing: 19.935381 deg,
      approach rate: -0.631267 m/s,
      LOS rate: 0.078758 deg/s,
      cmd heading: 21.221799 deg,
      new cmd heading: 21.313078 deg.

2025-08-21T07:15:47.327Z,1755760547.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371983 target range: 112.073746 and range: 112.70 m.
2025-08-21T07:15:47.731Z,1755760547.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.07 m.
2025-08-21T07:15:47.737Z,1755760547.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.073746 m,
      nav range: 111.486923 m,
      bearing: 19.966145 deg,
      approach rate: -0.628246 m/s,
      LOS rate: 0.071734 deg/s,
      cmd heading: 21.313078 deg,
      new cmd heading: 21.405592 deg.

2025-08-21T07:15:47.740Z,1755760547.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.373598 target range: 112.073746 and range: 112.70 m.
2025-08-21T07:15:48.104Z,1755760548.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:48.106Z,1755760548.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.07 m.
2025-08-21T07:15:48.109Z,1755760548.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.073746 m,
      nav range: 111.246841 m,
      bearing: 19.993394 deg,
      approach rate: -0.639556 m/s,
      LOS rate: 0.072746 deg/s,
      cmd heading: 21.405593 deg,
      new cmd heading: 21.487517 deg.

2025-08-21T07:15:48.110Z,1755760548.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.375028 target range: 112.073746 and range: 112.70 m.
2025-08-21T07:15:48.141Z,1755760548.141 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:48.141Z,1755760548.141 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:48.141Z,1755760548.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:48.395Z,1755760548.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502506
2025-08-21T07:15:48.552Z,1755760548.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.07 m.
2025-08-21T07:15:48.555Z,1755760548.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.073746 m,
      nav range: 110.970078 m,
      bearing: 20.026230 deg,
      approach rate: -0.620765 m/s,
      LOS rate: 0.073833 deg/s,
      cmd heading: 21.487517 deg,
      new cmd heading: 21.586271 deg.

2025-08-21T07:15:48.560Z,1755760548.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.376752 target range: 112.073746 and range: 112.70 m.
2025-08-21T07:15:48.645Z,1755760548.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753077
2025-08-21T07:15:48.896Z,1755760548.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004241
2025-08-21T07:15:48.911Z,1755760548.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.07 m.
2025-08-21T07:15:48.913Z,1755760548.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.073746 m,
      nav range: 110.738998 m,
      bearing: 20.053589 deg,
      approach rate: -0.644833 m/s,
      LOS rate: 0.076503 deg/s,
      cmd heading: 21.586272 deg,
      new cmd heading: 21.668518 deg.

2025-08-21T07:15:48.914Z,1755760548.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.378187 target range: 112.073746 and range: 112.70 m.
2025-08-21T07:15:49.149Z,1755760549.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256516
2025-08-21T07:15:49.335Z,1755760549.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.07 m.
2025-08-21T07:15:49.338Z,1755760549.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.073746 m,
      nav range: 110.471275 m,
      bearing: 20.085431 deg,
      approach rate: -0.631266 m/s,
      LOS rate: 0.075264 deg/s,
      cmd heading: 21.668517 deg,
      new cmd heading: 21.764277 deg.

2025-08-21T07:15:49.339Z,1755760549.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.379858 target range: 112.073746 and range: 112.70 m.
2025-08-21T07:15:49.403Z,1755760549.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510449
2025-08-21T07:15:49.652Z,1755760549.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760182
2025-08-21T07:15:49.773Z,1755760549.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.07 m.
2025-08-21T07:15:49.780Z,1755760549.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.073746 m,
      nav range: 110.211975 m,
      bearing: 20.113656 deg,
      approach rate: -0.592133 m/s,
      LOS rate: 0.064604 deg/s,
      cmd heading: 21.764277 deg,
      new cmd heading: 21.849148 deg.

2025-08-21T07:15:49.781Z,1755760549.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.381340 target range: 112.073746 and range: 112.70 m.
2025-08-21T07:15:49.904Z,1755760549.904 [DAT](INFO): DAT read: Rx Time:07:15:48.7194

2025-08-21T07:15:49.905Z,1755760549.905 [DAT](INFO): Rx dataTimestamp_ set to:1755760549.904514
2025-08-21T07:15:49.905Z,1755760549.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013282
2025-08-21T07:15:50.128Z,1755760550.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:50.130Z,1755760550.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.07 m.
2025-08-21T07:15:50.133Z,1755760550.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.073746 m,
      nav range: 109.968834 m,
      bearing: 20.139959 deg,
      approach rate: -0.679799 m/s,
      LOS rate: 0.073704 deg/s,
      cmd heading: 21.849148 deg,
      new cmd heading: 21.928232 deg.

2025-08-21T07:15:50.134Z,1755760550.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.382720 target range: 112.073746 and range: 112.70 m.
2025-08-21T07:15:50.158Z,1755760550.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266404
2025-08-21T07:15:50.413Z,1755760550.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519938
2025-08-21T07:15:50.577Z,1755760550.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.07 m.
2025-08-21T07:15:50.583Z,1755760550.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 112.073746 m,
      nav range: 109.696465 m,
      bearing: 20.169395 deg,
      approach rate: -0.610326 m/s,
      LOS rate: 0.066124 deg/s,
      cmd heading: 21.928232 deg,
      new cmd heading: 22.016759 deg.

2025-08-21T07:15:50.584Z,1755760550.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.384265 target range: 112.073746 and range: 112.70 m.
2025-08-21T07:15:50.669Z,1755760550.669 [DAT](INFO): DAT read: 07:15:48.7194 LVL= 31888, 32753, 27426, 32755, AGC= 68, IDX= 416, 0.20, 2.752, 1.180, 3.083, 2.601, PHS= 0.253,-1.377, 0.437, RAW= 155.3,   8.0, CAL= 154.9,   8.4, ROT= 355.1,  -8.4

2025-08-21T07:15:50.670Z,1755760550.670 [DAT](INFO): got valid direction response:
 07:15:48.7194 LVL= 31888, 32753, 27426, 32755, AGC= 68, IDX= 416, 0.20, 2.752, 1.180, 3.083, 2.601, PHS= 0.253,-1.377, 0.437, RAW= 155.3,   8.0, CAL= 154.9,   8.4, ROT= 355.1,  -8.4

2025-08-21T07:15:50.686Z,1755760550.686 [DAT](INFO): DAT read: Bearing 187.1,  -2.8 (Local)

2025-08-21T07:15:50.686Z,1755760550.686 [DAT](INFO): Local bearing/azimuth received:
 Bearing 187.1,  -2.8 (Local)

2025-08-21T07:15:50.688Z,1755760550.688 [DAT](INFO): DAT read: Range 11 to 50 : 110.4 m  (Round-trip  147.2 ms) speed  0.4 m/s

2025-08-21T07:15:50.688Z,1755760550.688 [DAT](INFO): DAT read: user:2141>

2025-08-21T07:15:50.689Z,1755760550.689 [DAT](INFO): DAT read: Tx time:07:15:49.8180

2025-08-21T07:15:50.689Z,1755760550.689 [DAT](INFO): Ping request sent.
2025-08-21T07:15:50.689Z,1755760550.689 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:15:50.690Z,1755760550.690 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:15:50.691Z,1755760550.691 [DAT](INFO): direction in FSK: [0.985657,-0.084501,0.146083]
2025-08-21T07:15:50.715Z,1755760550.715 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:50.716Z,1755760550.716 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:50.718Z,1755760550.718 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:50.719Z,1755760550.719 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:50.958Z,1755760550.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 110.400002 m,
      deltaT: 3.780480 s,
      deltaX: -2.299995 m,
      approachRate: -0.608387 m/s,
      rangeRepo size: 4

2025-08-21T07:15:50.960Z,1755760550.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 109.786774 m,
      bearing: 15.828474 deg,
      lat: 36.779369 deg,
      lon: -121.859337 deg,
      deltaT: 3.780480 s,
      deltaX: -2.286972 m,
      approachRate: -0.604942 m/s,
      posRepo size: 4

2025-08-21T07:15:50.961Z,1755760550.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:50.968Z,1755760550.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 107.981728 m,
      bearing: 15.876283 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.066124 deg/s,
      cmd heading: 22.016760 deg,
      new cmd heading: 22.092283 deg.

2025-08-21T07:15:50.969Z,1755760550.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.385583 target range: 109.786774 and range: 110.40 m.
2025-08-21T07:15:51.361Z,1755760551.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:51.384Z,1755760551.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 107.715492 m,
      bearing: 15.894571 deg,
      approach rate: -0.659222 m/s,
      LOS rate: 0.045393 deg/s,
      cmd heading: 22.092283 deg,
      new cmd heading: 22.147280 deg.

2025-08-21T07:15:51.385Z,1755760551.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.386543 target range: 109.786774 and range: 110.40 m.
2025-08-21T07:15:51.786Z,1755760551.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:51.788Z,1755760551.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 107.458954 m,
      bearing: 15.912120 deg,
      approach rate: -0.604385 m/s,
      LOS rate: 0.041443 deg/s,
      cmd heading: 22.147281 deg,
      new cmd heading: 22.200054 deg.

2025-08-21T07:15:51.789Z,1755760551.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.387464 target range: 109.786774 and range: 110.40 m.
2025-08-21T07:15:52.153Z,1755760552.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:52.158Z,1755760552.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:52.162Z,1755760552.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 107.238655 m,
      bearing: 15.927003 deg,
      approach rate: -0.592727 m/s,
      LOS rate: 0.040128 deg/s,
      cmd heading: 22.200055 deg,
      new cmd heading: 22.244798 deg.

2025-08-21T07:15:52.164Z,1755760552.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.388245 target range: 109.786774 and range: 110.40 m.
2025-08-21T07:15:52.180Z,1755760552.180 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:52.180Z,1755760552.180 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:52.180Z,1755760552.180 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:52.454Z,1755760552.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763469
2025-08-21T07:15:52.601Z,1755760552.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:52.604Z,1755760552.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 106.957031 m,
      bearing: 15.947015 deg,
      approach rate: -0.634753 m/s,
      LOS rate: 0.045224 deg/s,
      cmd heading: 22.244797 deg,
      new cmd heading: 22.304991 deg.

2025-08-21T07:15:52.605Z,1755760552.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.389296 target range: 109.786774 and range: 110.40 m.
2025-08-21T07:15:52.685Z,1755760552.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995967
2025-08-21T07:15:52.936Z,1755760552.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246697
2025-08-21T07:15:52.973Z,1755760552.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:52.979Z,1755760552.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 106.727150 m,
      bearing: 15.963192 deg,
      approach rate: -0.618872 m/s,
      LOS rate: 0.043645 deg/s,
      cmd heading: 22.304992 deg,
      new cmd heading: 22.353627 deg.

2025-08-21T07:15:52.980Z,1755760552.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.390144 target range: 109.786774 and range: 110.40 m.
2025-08-21T07:15:53.188Z,1755760553.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498857
2025-08-21T07:15:53.368Z,1755760553.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:53.370Z,1755760553.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 106.477592 m,
      bearing: 15.980592 deg,
      approach rate: -0.632097 m/s,
      LOS rate: 0.044173 deg/s,
      cmd heading: 22.353628 deg,
      new cmd heading: 22.405948 deg.

2025-08-21T07:15:53.371Z,1755760553.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.391058 target range: 109.786774 and range: 110.40 m.
2025-08-21T07:15:53.444Z,1755760553.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753575
2025-08-21T07:15:53.692Z,1755760553.692 [DAT](INFO): DAT read: Rx Time:07:15:52.3663

2025-08-21T07:15:53.693Z,1755760553.693 [DAT](INFO): Rx dataTimestamp_ set to:1755760553.692415
2025-08-21T07:15:53.693Z,1755760553.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003796
2025-08-21T07:15:53.791Z,1755760553.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:53.793Z,1755760553.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 106.205803 m,
      bearing: 15.998407 deg,
      approach rate: -0.641940 m/s,
      LOS rate: 0.042186 deg/s,
      cmd heading: 22.405949 deg,
      new cmd heading: 22.459533 deg.

2025-08-21T07:15:53.794Z,1755760553.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.391993 target range: 109.786774 and range: 110.40 m.
2025-08-21T07:15:53.945Z,1755760553.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255084
2025-08-21T07:15:54.183Z,1755760554.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:54.202Z,1755760554.202 [DAT](INFO): DAT read: 07:15:52.3663 LVL= 32752, 32753, 30706, 32755, AGC= 68, IDX= 416, 0.38, 0.435,-1.165, 0.776, 0.299, PHS= 0.237,-1.419, 0.432, RAW= 155.5,   8.6, CAL= 155.1,   9.1, ROT= 354.9,  -9.1

2025-08-21T07:15:54.203Z,1755760554.203 [DAT](INFO): got valid direction response:
 07:15:52.3663 LVL= 32752, 32753, 30706, 32755, AGC= 68, IDX= 416, 0.38, 0.435,-1.165, 0.776, 0.299, PHS= 0.237,-1.419, 0.432, RAW= 155.5,   8.6, CAL= 155.1,   9.1, ROT= 354.9,  -9.1

2025-08-21T07:15:54.204Z,1755760554.204 [DAT](INFO): DAT read: Bearing 188.6,  -3.1 (Local)

2025-08-21T07:15:54.204Z,1755760554.204 [DAT](INFO): Local bearing/azimuth received:
 Bearing 188.6,  -3.1 (Local)

2025-08-21T07:15:54.206Z,1755760554.206 [DAT](INFO): DAT read: Range 11 to 50 : 108.0 m  (Round-trip  144.1 ms) speed  0.8 m/s

2025-08-21T07:15:54.206Z,1755760554.206 [DAT](INFO): DAT read: user:2142>

2025-08-21T07:15:54.207Z,1755760554.207 [DAT](INFO): DAT read: Tx time:07:15:53.4680

2025-08-21T07:15:54.207Z,1755760554.207 [DAT](INFO): Ping request sent.
2025-08-21T07:15:54.208Z,1755760554.208 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:15:54.208Z,1755760554.208 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:15:54.209Z,1755760554.209 [DAT](INFO): direction in FSK: [0.983505,-0.087776,0.158158]
2025-08-21T07:15:54.209Z,1755760554.209 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:54.209Z,1755760554.209 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:54.213Z,1755760554.213 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:54.213Z,1755760554.213 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:54.236Z,1755760554.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.000000 m,
      deltaT: 3.535344 s,
      deltaX: -2.400002 m,
      approachRate: -0.678859 m/s,
      rangeRepo size: 4

2025-08-21T07:15:54.237Z,1755760554.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:54.247Z,1755760554.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 105.953171 m,
      bearing: 16.014775 deg,
      approach rate: -0.574486 m/s,
      LOS rate: 0.037309 deg/s,
      cmd heading: 22.459532 deg,
      new cmd heading: 22.508751 deg.

2025-08-21T07:15:54.252Z,1755760554.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.392852 target range: 109.786774 and range: 108.00 m.
2025-08-21T07:15:54.641Z,1755760554.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:54.644Z,1755760554.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 105.665199 m,
      bearing: 16.036371 deg,
      approach rate: -0.701319 m/s,
      LOS rate: 0.052738 deg/s,
      cmd heading: 22.508752 deg,
      new cmd heading: 22.573716 deg.

2025-08-21T07:15:54.645Z,1755760554.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393986 target range: 109.786774 and range: 108.00 m.
2025-08-21T07:15:54.985Z,1755760554.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:54.988Z,1755760554.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 105.444664 m,
      bearing: 16.052816 deg,
      approach rate: -0.641147 m/s,
      LOS rate: 0.047909 deg/s,
      cmd heading: 22.573717 deg,
      new cmd heading: 22.623155 deg.

2025-08-21T07:15:54.989Z,1755760554.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.394849 target range: 109.786774 and range: 108.00 m.
2025-08-21T07:15:55.402Z,1755760555.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:55.405Z,1755760555.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 105.180740 m,
      bearing: 16.072587 deg,
      approach rate: -0.632601 m/s,
      LOS rate: 0.047509 deg/s,
      cmd heading: 22.623154 deg,
      new cmd heading: 22.682617 deg.

2025-08-21T07:15:55.406Z,1755760555.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.395886 target range: 109.786774 and range: 108.00 m.
2025-08-21T07:15:55.828Z,1755760555.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:55.831Z,1755760555.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 104.919205 m,
      bearing: 16.090418 deg,
      approach rate: -0.614181 m/s,
      LOS rate: 0.041978 deg/s,
      cmd heading: 22.682618 deg,
      new cmd heading: 22.736244 deg.

2025-08-21T07:15:55.832Z,1755760555.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.396822 target range: 109.786774 and range: 108.00 m.
2025-08-21T07:15:56.200Z,1755760556.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:56.202Z,1755760556.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:56.205Z,1755760556.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 104.669418 m,
      bearing: 16.107264 deg,
      approach rate: -0.668280 m/s,
      LOS rate: 0.045178 deg/s,
      cmd heading: 22.736243 deg,
      new cmd heading: 22.786902 deg.

2025-08-21T07:15:56.205Z,1755760556.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.397706 target range: 109.786774 and range: 108.00 m.
2025-08-21T07:15:56.218Z,1755760556.218 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:56.218Z,1755760556.218 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:56.218Z,1755760556.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:56.471Z,1755760556.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262870
2025-08-21T07:15:56.626Z,1755760556.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:56.629Z,1755760556.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 104.392868 m,
      bearing: 16.126510 deg,
      approach rate: -0.651989 m/s,
      LOS rate: 0.045494 deg/s,
      cmd heading: 22.786903 deg,
      new cmd heading: 22.844793 deg.

2025-08-21T07:15:56.630Z,1755760556.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.398717 target range: 109.786774 and range: 108.00 m.
2025-08-21T07:15:56.722Z,1755760556.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514245
2025-08-21T07:15:56.972Z,1755760556.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764565
2025-08-21T07:15:57.005Z,1755760557.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:57.008Z,1755760557.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 104.145615 m,
      bearing: 16.143529 deg,
      approach rate: -0.652136 m/s,
      LOS rate: 0.044996 deg/s,
      cmd heading: 22.844794 deg,
      new cmd heading: 22.895973 deg.

2025-08-21T07:15:57.009Z,1755760557.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.399610 target range: 109.786774 and range: 108.00 m.
2025-08-21T07:15:57.226Z,1755760557.226 [DAT](INFO): DAT read: Rx Time:07:15:56.0131

2025-08-21T07:15:57.226Z,1755760557.226 [DAT](INFO): Rx dataTimestamp_ set to:1755760557.225712
2025-08-21T07:15:57.228Z,1755760557.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020029
2025-08-21T07:15:57.429Z,1755760557.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.79 m.
2025-08-21T07:15:57.433Z,1755760557.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 109.786774 m,
      nav range: 103.880936 m,
      bearing: 16.161595 deg,
      approach rate: -0.623765 m/s,
      LOS rate: 0.042682 deg/s,
      cmd heading: 22.895974 deg,
      new cmd heading: 22.950308 deg.

2025-08-21T07:15:57.434Z,1755760557.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.400558 target range: 109.786774 and range: 108.00 m.
2025-08-21T07:15:57.478Z,1755760557.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269868
2025-08-21T07:15:57.740Z,1755760557.740 [DAT](INFO): DAT read: 07:15:56.0131 LVL= 28736, 32753, 29906, 32755, AGC= 69, IDX= 417,-0.44,-1.203,-2.799,-0.858,-1.329, PHS= 0.228,-1.425, 0.427, RAW= 155.6,   8.8, CAL= 155.3,   9.3, ROT= 354.7,  -9.3

2025-08-21T07:15:57.741Z,1755760557.741 [DAT](INFO): got valid direction response:
 07:15:56.0131 LVL= 28736, 32753, 29906, 32755, AGC= 69, IDX= 417,-0.44,-1.203,-2.799,-0.858,-1.329, PHS= 0.228,-1.425, 0.427, RAW= 155.6,   8.8, CAL= 155.3,   9.3, ROT= 354.7,  -9.3

2025-08-21T07:15:57.742Z,1755760557.742 [DAT](INFO): DAT read: Bearing 189.9,  -3.2 (Local)

2025-08-21T07:15:57.742Z,1755760557.742 [DAT](INFO): Local bearing/azimuth received:
 Bearing 189.9,  -3.2 (Local)

2025-08-21T07:15:57.744Z,1755760557.744 [DAT](INFO): DAT read: Range 11 to 50 : 105.7 m  (Round-trip  141.0 ms) speed  0.4 m/s

2025-08-21T07:15:57.745Z,1755760557.745 [DAT](INFO): DAT read: user:2143>

2025-08-21T07:15:57.745Z,1755760557.745 [DAT](INFO): DAT read: Tx time:07:15:57.1180

2025-08-21T07:15:57.746Z,1755760557.746 [DAT](INFO): Ping request sent.
2025-08-21T07:15:57.746Z,1755760557.746 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:15:57.746Z,1755760557.746 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:15:57.747Z,1755760557.747 [DAT](INFO): direction in FSK: [0.982637,-0.091156,0.161604]
2025-08-21T07:15:57.748Z,1755760557.748 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:57.748Z,1755760557.748 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:57.751Z,1755760557.751 [DAT](INFO): publishing transmit ping time
2025-08-21T07:15:57.751Z,1755760557.751 [DAT](INFO): publishing direction and range info
2025-08-21T07:15:57.908Z,1755760557.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.699997 m,
      deltaT: 3.534880 s,
      deltaX: -2.300003 m,
      approachRate: -0.650659 m/s,
      rangeRepo size: 4

2025-08-21T07:15:57.910Z,1755760557.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.109383 m,
      bearing: 17.041675 deg,
      lat: 36.779369 deg,
      lon: -121.859337 deg,
      deltaT: 7.070224 s,
      deltaX: -4.677391 m,
      approachRate: -0.661562 m/s,
      posRepo size: 4

2025-08-21T07:15:57.911Z,1755760557.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.11 m.
2025-08-21T07:15:57.922Z,1755760557.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.109383 m,
      nav range: 103.577652 m,
      bearing: 16.180593 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.042682 deg/s,
      cmd heading: 22.950308 deg,
      new cmd heading: 23.010990 deg.

2025-08-21T07:15:57.923Z,1755760557.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.401618 target range: 105.109383 and range: 105.70 m.
2025-08-21T07:15:58.258Z,1755760558.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:15:58.261Z,1755760558.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.11 m.
2025-08-21T07:15:58.264Z,1755760558.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.109383 m,
      nav range: 103.338379 m,
      bearing: 16.195449 deg,
      approach rate: -0.669484 m/s,
      LOS rate: 0.041662 deg/s,
      cmd heading: 23.010989 deg,
      new cmd heading: 23.055659 deg.

2025-08-21T07:15:58.264Z,1755760558.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.402397 target range: 105.109383 and range: 105.70 m.
2025-08-21T07:15:58.487Z,1755760558.487 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:15:58.487Z,1755760558.487 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:15:58.487Z,1755760558.487 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:15:58.665Z,1755760558.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.11 m.
2025-08-21T07:15:58.668Z,1755760558.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.109383 m,
      nav range: 103.079926 m,
      bearing: 16.211402 deg,
      approach rate: -0.639746 m/s,
      LOS rate: 0.039587 deg/s,
      cmd heading: 23.055659 deg,
      new cmd heading: 23.103638 deg.

2025-08-21T07:15:58.669Z,1755760558.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.403235 target range: 105.109383 and range: 105.70 m.
2025-08-21T07:15:58.737Z,1755760558.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990759
2025-08-21T07:15:58.988Z,1755760558.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242432
2025-08-21T07:15:59.053Z,1755760559.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.11 m.
2025-08-21T07:15:59.088Z,1755760559.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.109383 m,
      nav range: 102.832603 m,
      bearing: 16.226576 deg,
      approach rate: -0.637080 m/s,
      LOS rate: 0.039182 deg/s,
      cmd heading: 23.103637 deg,
      new cmd heading: 23.149270 deg.

2025-08-21T07:15:59.089Z,1755760559.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.404031 target range: 105.109383 and range: 105.70 m.
2025-08-21T07:15:59.240Z,1755760559.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494734
2025-08-21T07:15:59.458Z,1755760559.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.11 m.
2025-08-21T07:15:59.460Z,1755760559.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.109383 m,
      nav range: 102.573738 m,
      bearing: 16.242373 deg,
      approach rate: -0.639618 m/s,
      LOS rate: 0.039129 deg/s,
      cmd heading: 23.149270 deg,
      new cmd heading: 23.196779 deg.

2025-08-21T07:15:59.461Z,1755760559.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.404860 target range: 105.109383 and range: 105.70 m.
2025-08-21T07:15:59.493Z,1755760559.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747282
2025-08-21T07:15:59.744Z,1755760559.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998476
2025-08-21T07:15:59.860Z,1755760559.860 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      +182. +987.75,       +25.85,  0.00
2025-08-21T07:15:59.895Z,1755760559.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.11 m.
2025-08-21T07:15:59.898Z,1755760559.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.109383 m,
      nav range: 102.306450 m,
      bearing: 16.258619 deg,
      approach rate: -0.616501 m/s,
      LOS rate: 0.037571 deg/s,
      cmd heading: 23.196779 deg,
      new cmd heading: 23.245646 deg.

2025-08-21T07:15:59.899Z,1755760559.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.405713 target range: 105.109383 and range: 105.70 m.
2025-08-21T07:15:59.997Z,1755760559.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250811
2025-08-21T07:16:00.248Z,1755760560.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502633
2025-08-21T07:16:00.272Z,1755760560.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:00.274Z,1755760560.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.11 m.
2025-08-21T07:16:00.277Z,1755760560.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.109383 m,
      nav range: 102.051178 m,
      bearing: 16.274048 deg,
      approach rate: -0.666590 m/s,
      LOS rate: 0.040391 deg/s,
      cmd heading: 23.245646 deg,
      new cmd heading: 23.292049 deg.

2025-08-21T07:16:00.278Z,1755760560.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.406523 target range: 105.109383 and range: 105.70 m.
2025-08-21T07:16:00.416Z,1755760560.416 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:16:00.500Z,1755760560.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754410
2025-08-21T07:16:00.730Z,1755760560.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.11 m.
2025-08-21T07:16:00.737Z,1755760560.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.109383 m,
      nav range: 101.763931 m,
      bearing: 16.291224 deg,
      approach rate: -0.629771 m/s,
      LOS rate: 0.037763 deg/s,
      cmd heading: 23.292048 deg,
      new cmd heading: 23.343721 deg.

2025-08-21T07:16:00.738Z,1755760560.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.407425 target range: 105.109383 and range: 105.70 m.
2025-08-21T07:16:00.752Z,1755760560.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006748
2025-08-21T07:16:01.004Z,1755760561.004 [DAT](INFO): DAT read: Rx Time:07:15:59.6600

2025-08-21T07:16:01.005Z,1755760561.005 [DAT](INFO): Rx dataTimestamp_ set to:1755760561.004466
2025-08-21T07:16:01.005Z,1755760561.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259558
2025-08-21T07:16:01.120Z,1755760561.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.11 m.
2025-08-21T07:16:01.123Z,1755760561.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.109383 m,
      nav range: 101.500526 m,
      bearing: 16.306781 deg,
      approach rate: -0.675757 m/s,
      LOS rate: 0.040015 deg/s,
      cmd heading: 23.343720 deg,
      new cmd heading: 23.390513 deg.

2025-08-21T07:16:01.132Z,1755760561.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.408241 target range: 105.109383 and range: 105.70 m.
2025-08-21T07:16:01.257Z,1755760561.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511343
2025-08-21T07:16:01.420Z,1755760561.420 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:16:01.475Z,1755760561.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.11 m.
2025-08-21T07:16:01.478Z,1755760561.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.109383 m,
      nav range: 101.262146 m,
      bearing: 16.320693 deg,
      approach rate: -0.671366 m/s,
      LOS rate: 0.039271 deg/s,
      cmd heading: 23.390514 deg,
      new cmd heading: 23.432346 deg.

2025-08-21T07:16:01.479Z,1755760561.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.408972 target range: 105.109383 and range: 105.70 m.
2025-08-21T07:16:01.514Z,1755760561.514 [DAT](INFO): DAT read: 07:15:59.6600 LVL= 28784, 32753, 28466, 32755, AGC= 67, IDX= 417,-0.47,-1.276,-2.823,-0.828,-1.349, PHS= 0.175,-1.429, 0.477, RAW= 158.5,   8.8, CAL= 158.2,   9.3, ROT= 351.8,  -9.3

2025-08-21T07:16:01.515Z,1755760561.515 [DAT](INFO): got valid direction response:
 07:15:59.6600 LVL= 28784, 32753, 28466, 32755, AGC= 67, IDX= 417,-0.47,-1.276,-2.823,-0.828,-1.349, PHS= 0.175,-1.429, 0.477, RAW= 158.5,   8.8, CAL= 158.2,   9.3, ROT= 351.8,  -9.3

2025-08-21T07:16:01.516Z,1755760561.516 [DAT](INFO): DAT read: Bearing 190.8,  -6.1 (Local)

2025-08-21T07:16:01.516Z,1755760561.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 190.8,  -6.1 (Local)

2025-08-21T07:16:01.518Z,1755760561.518 [DAT](INFO): DAT read: Range 11 to 50 : 103.3 m  (Round-trip  137.8 ms) speed  0.6 m/s

2025-08-21T07:16:01.518Z,1755760561.518 [DAT](INFO): DAT read: user:2144>

2025-08-21T07:16:01.519Z,1755760561.519 [DAT](INFO): DAT read: Tx time:07:16:00.7680

2025-08-21T07:16:01.520Z,1755760561.520 [DAT](INFO): Ping request sent.
2025-08-21T07:16:01.520Z,1755760561.520 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:01.520Z,1755760561.520 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:01.521Z,1755760561.521 [DAT](INFO): direction in FSK: [0.976766,-0.140754,0.161604]
2025-08-21T07:16:01.521Z,1755760561.521 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:01.522Z,1755760561.522 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:01.525Z,1755760561.525 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:01.525Z,1755760561.525 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:01.908Z,1755760561.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.300003 m,
      deltaT: 3.777111 s,
      deltaX: -2.399994 m,
      approachRate: -0.635405 m/s,
      rangeRepo size: 4

2025-08-21T07:16:01.910Z,1755760561.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 102.722969 m,
      bearing: 14.914095 deg,
      lat: 36.779369 deg,
      lon: -121.859337 deg,
      deltaT: 3.777111 s,
      deltaX: -2.386414 m,
      approachRate: -0.631809 m/s,
      posRepo size: 4

2025-08-21T07:16:01.911Z,1755760561.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.72 m.
2025-08-21T07:16:01.914Z,1755760561.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.722969 m,
      nav range: 100.979774 m,
      bearing: 16.338201 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.039271 deg/s,
      cmd heading: 23.432345 deg,
      new cmd heading: 23.483311 deg.

2025-08-21T07:16:01.915Z,1755760561.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.409861 target range: 102.722969 and range: 103.30 m.
2025-08-21T07:16:02.290Z,1755760562.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:02.292Z,1755760562.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.72 m.
2025-08-21T07:16:02.295Z,1755760562.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.722969 m,
      nav range: 100.723824 m,
      bearing: 16.353989 deg,
      approach rate: -0.665785 m/s,
      LOS rate: 0.041173 deg/s,
      cmd heading: 23.483311 deg,
      new cmd heading: 23.530796 deg.

2025-08-21T07:16:02.296Z,1755760562.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.410690 target range: 102.722969 and range: 103.30 m.
2025-08-21T07:16:02.517Z,1755760562.517 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:02.517Z,1755760562.517 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:02.518Z,1755760562.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:02.731Z,1755760562.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.72 m.
2025-08-21T07:16:02.734Z,1755760562.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.722969 m,
      nav range: 100.451042 m,
      bearing: 16.368920 deg,
      approach rate: -0.621381 m/s,
      LOS rate: 0.034105 deg/s,
      cmd heading: 23.530796 deg,
      new cmd heading: 23.575711 deg.

2025-08-21T07:16:02.735Z,1755760562.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411474 target range: 102.722969 and range: 103.30 m.
2025-08-21T07:16:02.768Z,1755760562.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248627
2025-08-21T07:16:03.020Z,1755760563.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500464
2025-08-21T07:16:03.093Z,1755760563.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.72 m.
2025-08-21T07:16:03.098Z,1755760563.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.722969 m,
      nav range: 100.225677 m,
      bearing: 16.381096 deg,
      approach rate: -0.625860 m/s,
      LOS rate: 0.033890 deg/s,
      cmd heading: 23.575711 deg,
      new cmd heading: 23.612321 deg.

2025-08-21T07:16:03.100Z,1755760563.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412113 target range: 102.722969 and range: 103.30 m.
2025-08-21T07:16:03.272Z,1755760563.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752613
2025-08-21T07:16:03.496Z,1755760563.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.72 m.
2025-08-21T07:16:03.498Z,1755760563.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.722969 m,
      nav range: 99.974113 m,
      bearing: 16.394610 deg,
      approach rate: -0.623202 m/s,
      LOS rate: 0.033563 deg/s,
      cmd heading: 23.612321 deg,
      new cmd heading: 23.652965 deg.

2025-08-21T07:16:03.499Z,1755760563.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412822 target range: 102.722969 and range: 103.30 m.
2025-08-21T07:16:03.524Z,1755760563.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004546
2025-08-21T07:16:03.776Z,1755760563.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256466
2025-08-21T07:16:03.923Z,1755760563.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.72 m.
2025-08-21T07:16:03.926Z,1755760563.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.722969 m,
      nav range: 99.705421 m,
      bearing: 16.408952 deg,
      approach rate: -0.628123 m/s,
      LOS rate: 0.033617 deg/s,
      cmd heading: 23.652966 deg,
      new cmd heading: 23.696107 deg.

2025-08-21T07:16:03.927Z,1755760563.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413575 target range: 102.722969 and range: 103.30 m.
2025-08-21T07:16:04.028Z,1755760564.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508624
2025-08-21T07:16:04.280Z,1755760564.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760516
2025-08-21T07:16:04.305Z,1755760564.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:04.308Z,1755760564.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.72 m.
2025-08-21T07:16:04.310Z,1755760564.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.722969 m,
      nav range: 99.464264 m,
      bearing: 16.421742 deg,
      approach rate: -0.627000 m/s,
      LOS rate: 0.033335 deg/s,
      cmd heading: 23.696107 deg,
      new cmd heading: 23.734571 deg.

2025-08-21T07:16:04.311Z,1755760564.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414246 target range: 102.722969 and range: 103.30 m.
2025-08-21T07:16:04.533Z,1755760564.533 [DAT](INFO): DAT read: Rx Time:07:16:03.3069

2025-08-21T07:16:04.533Z,1755760564.533 [DAT](INFO): Rx dataTimestamp_ set to:1755760564.532721
2025-08-21T07:16:04.534Z,1755760564.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013831
2025-08-21T07:16:04.749Z,1755760564.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.72 m.
2025-08-21T07:16:04.752Z,1755760564.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 102.722969 m,
      nav range: 99.185966 m,
      bearing: 16.436453 deg,
      approach rate: -0.629702 m/s,
      LOS rate: 0.033378 deg/s,
      cmd heading: 23.734571 deg,
      new cmd heading: 23.778826 deg.

2025-08-21T07:16:04.753Z,1755760564.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415019 target range: 102.722969 and range: 103.30 m.
2025-08-21T07:16:04.784Z,1755760564.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264674
2025-08-21T07:16:05.044Z,1755760565.044 [DAT](INFO): DAT read: 07:16:03.3069 LVL= 27520, 32753, 25074, 32755, AGC= 69, IDX= 417,-0.21,-2.568, 2.151,-2.102,-2.607, PHS= 0.141,-1.480, 0.462, RAW= 158.8,   9.8, CAL= 158.7,  10.5, ROT= 351.3, -10.5

2025-08-21T07:16:05.045Z,1755760565.045 [DAT](INFO): got valid direction response:
 07:16:03.3069 LVL= 27520, 32753, 25074, 32755, AGC= 69, IDX= 417,-0.21,-2.568, 2.151,-2.102,-2.607, PHS= 0.141,-1.480, 0.462, RAW= 158.8,   9.8, CAL= 158.7,  10.5, ROT= 351.3, -10.5

2025-08-21T07:16:05.046Z,1755760565.046 [DAT](INFO): DAT read: Bearing 192.6,  -6.8 (Local)

2025-08-21T07:16:05.046Z,1755760565.046 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.6,  -6.8 (Local)

2025-08-21T07:16:05.048Z,1755760565.048 [DAT](INFO): DAT read: Range 11 to 50 : 101.1 m  (Round-trip  134.8 ms) speed  0.5 m/s

2025-08-21T07:16:05.049Z,1755760565.049 [DAT](INFO): DAT read: user:2145>

2025-08-21T07:16:05.049Z,1755760565.049 [DAT](INFO): DAT read: Tx time:07:16:04.4195

2025-08-21T07:16:05.050Z,1755760565.050 [DAT](INFO): Ping request sent.
2025-08-21T07:16:05.050Z,1755760565.050 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:05.050Z,1755760565.050 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:05.052Z,1755760565.052 [DAT](INFO): direction in FSK: [0.971941,-0.148728,0.182236]
2025-08-21T07:16:05.052Z,1755760565.052 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:05.052Z,1755760565.052 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:05.056Z,1755760565.056 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:05.056Z,1755760565.056 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:05.209Z,1755760565.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 101.099998 m,
      deltaT: 3.530182 s,
      deltaX: -2.200005 m,
      approachRate: -0.623199 m/s,
      rangeRepo size: 4

2025-08-21T07:16:05.217Z,1755760565.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 100.533813 m,
      bearing: 14.821211 deg,
      lat: 36.779372 deg,
      lon: -121.859337 deg,
      deltaT: 3.530182 s,
      deltaX: -2.189156 m,
      approachRate: -0.620125 m/s,
      posRepo size: 4

2025-08-21T07:16:05.218Z,1755760565.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.53 m.
2025-08-21T07:16:05.225Z,1755760565.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.533813 m,
      nav range: 99.250755 m,
      bearing: 16.395655 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.033378 deg/s,
      cmd heading: 23.778825 deg,
      new cmd heading: 23.823848 deg.

2025-08-21T07:16:05.226Z,1755760565.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415805 target range: 100.533813 and range: 101.10 m.
2025-08-21T07:16:05.561Z,1755760565.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.53 m.
2025-08-21T07:16:05.563Z,1755760565.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.533813 m,
      nav range: 98.996597 m,
      bearing: 16.408871 deg,
      approach rate: -0.702397 m/s,
      LOS rate: 0.036616 deg/s,
      cmd heading: 23.823848 deg,
      new cmd heading: 23.863596 deg.

2025-08-21T07:16:05.564Z,1755760565.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416498 target range: 100.533813 and range: 101.10 m.
2025-08-21T07:16:05.972Z,1755760565.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.53 m.
2025-08-21T07:16:05.974Z,1755760565.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.533813 m,
      nav range: 98.737175 m,
      bearing: 16.421761 deg,
      approach rate: -0.630865 m/s,
      LOS rate: 0.031428 deg/s,
      cmd heading: 23.863597 deg,
      new cmd heading: 23.902368 deg.

2025-08-21T07:16:05.976Z,1755760565.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417175 target range: 100.533813 and range: 101.10 m.
2025-08-21T07:16:06.356Z,1755760566.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:06.358Z,1755760566.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.53 m.
2025-08-21T07:16:06.360Z,1755760566.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.533813 m,
      nav range: 98.496246 m,
      bearing: 16.433596 deg,
      approach rate: -0.624834 m/s,
      LOS rate: 0.030770 deg/s,
      cmd heading: 23.902368 deg,
      new cmd heading: 23.937962 deg.

2025-08-21T07:16:06.361Z,1755760566.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417796 target range: 100.533813 and range: 101.10 m.
2025-08-21T07:16:06.552Z,1755760566.552 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:06.553Z,1755760566.553 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:06.553Z,1755760566.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:06.793Z,1755760566.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.53 m.
2025-08-21T07:16:06.796Z,1755760566.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.533813 m,
      nav range: 98.224190 m,
      bearing: 16.447958 deg,
      approach rate: -0.624307 m/s,
      LOS rate: 0.033047 deg/s,
      cmd heading: 23.937962 deg,
      new cmd heading: 23.981165 deg.

2025-08-21T07:16:06.797Z,1755760566.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418550 target range: 100.533813 and range: 101.10 m.
2025-08-21T07:16:06.804Z,1755760566.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754495
2025-08-21T07:16:07.057Z,1755760567.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006934
2025-08-21T07:16:07.223Z,1755760567.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.53 m.
2025-08-21T07:16:07.226Z,1755760567.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.533813 m,
      nav range: 97.968529 m,
      bearing: 16.461526 deg,
      approach rate: -0.595325 m/s,
      LOS rate: 0.031678 deg/s,
      cmd heading: 23.981165 deg,
      new cmd heading: 24.021977 deg.

2025-08-21T07:16:07.227Z,1755760567.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419263 target range: 100.533813 and range: 101.10 m.
2025-08-21T07:16:07.309Z,1755760567.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259159
2025-08-21T07:16:07.560Z,1755760567.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510539
2025-08-21T07:16:07.592Z,1755760567.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.53 m.
2025-08-21T07:16:07.594Z,1755760567.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.533813 m,
      nav range: 97.741470 m,
      bearing: 16.473308 deg,
      approach rate: -0.622895 m/s,
      LOS rate: 0.032395 deg/s,
      cmd heading: 24.021977 deg,
      new cmd heading: 24.057403 deg.

2025-08-21T07:16:07.599Z,1755760567.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419881 target range: 100.533813 and range: 101.10 m.
2025-08-21T07:16:07.812Z,1755760567.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762423
2025-08-21T07:16:08.006Z,1755760568.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.53 m.
2025-08-21T07:16:08.009Z,1755760568.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.533813 m,
      nav range: 97.464378 m,
      bearing: 16.484914 deg,
      approach rate: -0.661930 m/s,
      LOS rate: 0.027804 deg/s,
      cmd heading: 24.057403 deg,
      new cmd heading: 24.092321 deg.

2025-08-21T07:16:08.010Z,1755760568.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420490 target range: 100.533813 and range: 101.10 m.
2025-08-21T07:16:08.065Z,1755760568.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015048
2025-08-21T07:16:08.316Z,1755760568.316 [DAT](INFO): DAT read: Rx Time:07:16:06.9553

2025-08-21T07:16:08.317Z,1755760568.317 [DAT](INFO): Rx dataTimestamp_ set to:1755760568.316417
2025-08-21T07:16:08.317Z,1755760568.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267428
2025-08-21T07:16:08.392Z,1755760568.392 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:08.394Z,1755760568.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.53 m.
2025-08-21T07:16:08.424Z,1755760568.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.533813 m,
      nav range: 97.219322 m,
      bearing: 16.494997 deg,
      approach rate: -0.631277 m/s,
      LOS rate: 0.026040 deg/s,
      cmd heading: 24.092321 deg,
      new cmd heading: 24.122646 deg.

2025-08-21T07:16:08.425Z,1755760568.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421020 target range: 100.533813 and range: 101.10 m.
2025-08-21T07:16:08.568Z,1755760568.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518364
2025-08-21T07:16:08.809Z,1755760568.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.53 m.
2025-08-21T07:16:08.812Z,1755760568.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.533813 m,
      nav range: 96.951294 m,
      bearing: 16.507512 deg,
      approach rate: -0.645298 m/s,
      LOS rate: 0.030214 deg/s,
      cmd heading: 24.122645 deg,
      new cmd heading: 24.160293 deg.

2025-08-21T07:16:08.813Z,1755760568.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421677 target range: 100.533813 and range: 101.10 m.
2025-08-21T07:16:08.826Z,1755760568.826 [DAT](INFO): DAT read: 07:16:06.9553 LVL= 26720, 29857, 21026, 32739, AGC= 66, IDX= 417,-0.01, 1.789, 0.185, 2.257, 1.726, PHS= 0.165,-1.497, 0.487, RAW= 158.7,   9.2, CAL= 158.5,   9.8, ROT= 351.5,  -9.8

2025-08-21T07:16:08.835Z,1755760568.835 [DAT](INFO): got valid direction response:
 07:16:06.9553 LVL= 26720, 29857, 21026, 32739, AGC= 66, IDX= 417,-0.01, 1.789, 0.185, 2.257, 1.726, PHS= 0.165,-1.497, 0.487, RAW= 158.7,   9.2, CAL= 158.5,   9.8, ROT= 351.5,  -9.8

2025-08-21T07:16:08.836Z,1755760568.836 [DAT](INFO): DAT read: Bearing 192.5,  -6.7 (Local)

2025-08-21T07:16:08.837Z,1755760568.837 [DAT](INFO): Local bearing/azimuth received:
 Bearing 192.5,  -6.7 (Local)

2025-08-21T07:16:08.838Z,1755760568.838 [DAT](INFO): DAT read: Range 11 to 50 : 98.7 m  (Round-trip  131.7 ms) speed  0.7 m/s

2025-08-21T07:16:08.839Z,1755760568.839 [DAT](INFO): DAT read: user:2146>

2025-08-21T07:16:08.840Z,1755760568.840 [DAT](INFO): DAT read: Tx time:07:16:08.0679

2025-08-21T07:16:08.840Z,1755760568.840 [DAT](INFO): Ping request sent.
2025-08-21T07:16:08.840Z,1755760568.840 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:08.840Z,1755760568.840 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:08.841Z,1755760568.841 [DAT](INFO): direction in FSK: [0.974584,-0.145653,0.170209]
2025-08-21T07:16:08.841Z,1755760568.841 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:08.842Z,1755760568.842 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:08.846Z,1755760568.846 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:08.846Z,1755760568.846 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:09.236Z,1755760569.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 98.699997 m,
      deltaT: 3.781998 s,
      deltaX: -2.400002 m,
      approachRate: -0.634586 m/s,
      rangeRepo size: 4

2025-08-21T07:16:09.238Z,1755760569.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 98.147446 m,
      bearing: 15.638433 deg,
      lat: 36.779374 deg,
      lon: -121.859354 deg,
      deltaT: 3.781998 s,
      deltaX: -2.386368 m,
      approachRate: -0.630981 m/s,
      posRepo size: 4

2025-08-21T07:16:09.238Z,1755760569.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.15 m.
2025-08-21T07:16:09.241Z,1755760569.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.147446 m,
      nav range: 96.424591 m,
      bearing: 15.660208 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030214 deg/s,
      cmd heading: 24.160293 deg,
      new cmd heading: 24.198862 deg.

2025-08-21T07:16:09.242Z,1755760569.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422350 target range: 98.147446 and range: 98.70 m.
2025-08-21T07:16:09.633Z,1755760569.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.15 m.
2025-08-21T07:16:09.640Z,1755760569.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.147446 m,
      nav range: 96.160019 m,
      bearing: 15.670042 deg,
      approach rate: -0.664248 m/s,
      LOS rate: 0.024757 deg/s,
      cmd heading: 24.198862 deg,
      new cmd heading: 24.228444 deg.

2025-08-21T07:16:09.641Z,1755760569.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422866 target range: 98.147446 and range: 98.70 m.
2025-08-21T07:16:10.034Z,1755760570.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.15 m.
2025-08-21T07:16:10.037Z,1755760570.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.147446 m,
      nav range: 95.910004 m,
      bearing: 15.679231 deg,
      approach rate: -0.623870 m/s,
      LOS rate: 0.022990 deg/s,
      cmd heading: 24.228443 deg,
      new cmd heading: 24.256083 deg.

2025-08-21T07:16:10.038Z,1755760570.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423349 target range: 98.147446 and range: 98.70 m.
2025-08-21T07:16:10.414Z,1755760570.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:10.417Z,1755760570.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.15 m.
2025-08-21T07:16:10.419Z,1755760570.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.147446 m,
      nav range: 95.674408 m,
      bearing: 15.687934 deg,
      approach rate: -0.615983 m/s,
      LOS rate: 0.022811 deg/s,
      cmd heading: 24.256083 deg,
      new cmd heading: 24.282257 deg.

2025-08-21T07:16:10.420Z,1755760570.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423805 target range: 98.147446 and range: 98.70 m.
2025-08-21T07:16:10.584Z,1755760570.584 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:10.584Z,1755760570.584 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:10.585Z,1755760570.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:10.828Z,1755760570.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.15 m.
2025-08-21T07:16:10.830Z,1755760570.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.147446 m,
      nav range: 95.411018 m,
      bearing: 15.699321 deg,
      approach rate: -0.641386 m/s,
      LOS rate: 0.027806 deg/s,
      cmd heading: 24.282257 deg,
      new cmd heading: 24.316513 deg.

2025-08-21T07:16:10.836Z,1755760570.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996302
2025-08-21T07:16:10.852Z,1755760570.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424403 target range: 98.147446 and range: 98.70 m.
2025-08-21T07:16:11.089Z,1755760571.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248683
2025-08-21T07:16:11.239Z,1755760571.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.15 m.
2025-08-21T07:16:11.242Z,1755760571.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.147446 m,
      nav range: 95.157127 m,
      bearing: 15.710282 deg,
      approach rate: -0.616580 m/s,
      LOS rate: 0.026689 deg/s,
      cmd heading: 24.316513 deg,
      new cmd heading: 24.349483 deg.

2025-08-21T07:16:11.243Z,1755760571.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424979 target range: 98.147446 and range: 98.70 m.
2025-08-21T07:16:11.340Z,1755760571.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500273
2025-08-21T07:16:11.592Z,1755760571.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752514
2025-08-21T07:16:11.628Z,1755760571.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.15 m.
2025-08-21T07:16:11.631Z,1755760571.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.147446 m,
      nav range: 94.898438 m,
      bearing: 15.721390 deg,
      approach rate: -0.664369 m/s,
      LOS rate: 0.028606 deg/s,
      cmd heading: 24.349483 deg,
      new cmd heading: 24.382898 deg.

2025-08-21T07:16:11.632Z,1755760571.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425562 target range: 98.147446 and range: 98.70 m.
2025-08-21T07:16:11.844Z,1755760571.844 [DAT](INFO): DAT read: Rx Time:07:16:10.6006

2025-08-21T07:16:11.845Z,1755760571.845 [DAT](INFO): Rx dataTimestamp_ set to:1755760571.844378
2025-08-21T07:16:11.845Z,1755760571.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005258
2025-08-21T07:16:12.044Z,1755760572.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.15 m.
2025-08-21T07:16:12.046Z,1755760572.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 98.147446 m,
      nav range: 94.633011 m,
      bearing: 15.732507 deg,
      approach rate: -0.639511 m/s,
      LOS rate: 0.026860 deg/s,
      cmd heading: 24.382898 deg,
      new cmd heading: 24.416342 deg.

2025-08-21T07:16:12.047Z,1755760572.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426146 target range: 98.147446 and range: 98.70 m.
2025-08-21T07:16:12.098Z,1755760572.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257637
2025-08-21T07:16:12.356Z,1755760572.356 [DAT](INFO): DAT read: 07:16:10.6006 LVL= 30480, 31473, 24242, 32755, AGC= 68, IDX= 417, 0.13, 0.830,-0.716, 1.295, 0.778, PHS= 0.153,-1.449, 0.472, RAW= 158.9,   9.3, CAL= 158.7,   9.9, ROT= 351.3,  -9.9

2025-08-21T07:16:12.357Z,1755760572.357 [DAT](INFO): got valid direction response:
 07:16:10.6006 LVL= 30480, 31473, 24242, 32755, AGC= 68, IDX= 417, 0.13, 0.830,-0.716, 1.295, 0.778, PHS= 0.153,-1.449, 0.472, RAW= 158.9,   9.3, CAL= 158.7,   9.9, ROT= 351.3,  -9.9

2025-08-21T07:16:12.358Z,1755760572.358 [DAT](INFO): DAT read: Bearing 193.1,  -6.9 (Local)

2025-08-21T07:16:12.358Z,1755760572.358 [DAT](INFO): Local bearing/azimuth received:
 Bearing 193.1,  -6.9 (Local)

2025-08-21T07:16:12.360Z,1755760572.360 [DAT](INFO): DAT read: Range 11 to 50 : 96.4 m  (Round-trip  128.6 ms) speed  0.5 m/s

2025-08-21T07:16:12.361Z,1755760572.361 [DAT](INFO): DAT read: user:2147>

2025-08-21T07:16:12.361Z,1755760572.361 [DAT](INFO): DAT read: Tx time:07:16:11.7179

2025-08-21T07:16:12.362Z,1755760572.362 [DAT](INFO): Ping request sent.
2025-08-21T07:16:12.362Z,1755760572.362 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:12.362Z,1755760572.362 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:12.363Z,1755760572.363 [DAT](INFO): direction in FSK: [0.973775,-0.149009,0.171929]
2025-08-21T07:16:12.364Z,1755760572.364 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:12.364Z,1755760572.364 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:12.367Z,1755760572.367 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:12.368Z,1755760572.368 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:12.511Z,1755760572.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 96.400002 m,
      deltaT: 3.529983 s,
      deltaX: -2.299995 m,
      approachRate: -0.651560 m/s,
      rangeRepo size: 4

2025-08-21T07:16:12.513Z,1755760572.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.861465 m,
      bearing: 15.757300 deg,
      lat: 36.779374 deg,
      lon: -121.859354 deg,
      deltaT: 3.529983 s,
      deltaX: -2.285980 m,
      approachRate: -0.647590 m/s,
      posRepo size: 4

2025-08-21T07:16:12.514Z,1755760572.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.86 m.
2025-08-21T07:16:12.521Z,1755760572.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.861465 m,
      nav range: 94.354698 m,
      bearing: 15.744231 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026860 deg/s,
      cmd heading: 24.416342 deg,
      new cmd heading: 24.453654 deg.

2025-08-21T07:16:12.522Z,1755760572.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426797 target range: 95.861465 and range: 96.40 m.
2025-08-21T07:16:12.901Z,1755760572.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:12.904Z,1755760572.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.86 m.
2025-08-21T07:16:12.906Z,1755760572.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.861465 m,
      nav range: 94.094650 m,
      bearing: 15.755009 deg,
      approach rate: -0.654874 m/s,
      LOS rate: 0.027217 deg/s,
      cmd heading: 24.453653 deg,
      new cmd heading: 24.486077 deg.

2025-08-21T07:16:12.916Z,1755760572.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427363 target range: 95.861465 and range: 96.40 m.
2025-08-21T07:16:13.112Z,1755760573.112 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:13.112Z,1755760573.112 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:13.112Z,1755760573.112 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:13.286Z,1755760573.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.86 m.
2025-08-21T07:16:13.293Z,1755760573.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.861465 m,
      nav range: 93.851997 m,
      bearing: 15.765082 deg,
      approach rate: -0.634803 m/s,
      LOS rate: 0.026420 deg/s,
      cmd heading: 24.486076 deg,
      new cmd heading: 24.516373 deg.

2025-08-21T07:16:13.293Z,1755760573.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427891 target range: 95.861465 and range: 96.40 m.
2025-08-21T07:16:13.365Z,1755760573.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002939
2025-08-21T07:16:13.616Z,1755760573.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254350
2025-08-21T07:16:13.699Z,1755760573.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.86 m.
2025-08-21T07:16:13.713Z,1755760573.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.861465 m,
      nav range: 93.589279 m,
      bearing: 15.776038 deg,
      approach rate: -0.636046 m/s,
      LOS rate: 0.026601 deg/s,
      cmd heading: 24.516373 deg,
      new cmd heading: 24.549336 deg.

2025-08-21T07:16:13.714Z,1755760573.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428467 target range: 95.861465 and range: 96.40 m.
2025-08-21T07:16:13.869Z,1755760573.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506829
2025-08-21T07:16:14.120Z,1755760574.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758419
2025-08-21T07:16:14.131Z,1755760574.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.86 m.
2025-08-21T07:16:14.164Z,1755760574.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.861465 m,
      nav range: 93.302834 m,
      bearing: 15.788019 deg,
      approach rate: -0.663343 m/s,
      LOS rate: 0.027830 deg/s,
      cmd heading: 24.549336 deg,
      new cmd heading: 24.585388 deg.

2025-08-21T07:16:14.167Z,1755760574.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429096 target range: 95.861465 and range: 96.40 m.
2025-08-21T07:16:14.372Z,1755760574.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010546
2025-08-21T07:16:14.532Z,1755760574.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.86 m.
2025-08-21T07:16:14.534Z,1755760574.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.861465 m,
      nav range: 93.047134 m,
      bearing: 15.798573 deg,
      approach rate: -0.637258 m/s,
      LOS rate: 0.026374 deg/s,
      cmd heading: 24.585387 deg,
      new cmd heading: 24.617135 deg.

2025-08-21T07:16:14.536Z,1755760574.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429650 target range: 95.861465 and range: 96.40 m.
2025-08-21T07:16:14.624Z,1755760574.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262472
2025-08-21T07:16:14.876Z,1755760574.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514333
2025-08-21T07:16:14.958Z,1755760574.958 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:14.960Z,1755760574.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.86 m.
2025-08-21T07:16:14.963Z,1755760574.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.861465 m,
      nav range: 92.776894 m,
      bearing: 15.809141 deg,
      approach rate: -0.630598 m/s,
      LOS rate: 0.024732 deg/s,
      cmd heading: 24.617136 deg,
      new cmd heading: 24.648933 deg.

2025-08-21T07:16:14.964Z,1755760574.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430205 target range: 95.861465 and range: 96.40 m.
2025-08-21T07:16:15.128Z,1755760575.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766604
2025-08-21T07:16:15.333Z,1755760575.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.86 m.
2025-08-21T07:16:15.336Z,1755760575.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.861465 m,
      nav range: 92.541412 m,
      bearing: 15.818280 deg,
      approach rate: -0.631818 m/s,
      LOS rate: 0.024583 deg/s,
      cmd heading: 24.648932 deg,
      new cmd heading: 24.676419 deg.

2025-08-21T07:16:15.337Z,1755760575.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430685 target range: 95.861465 and range: 96.40 m.
2025-08-21T07:16:15.381Z,1755760575.381 [DAT](INFO): DAT read: Rx Time:07:16:14.2475

2025-08-21T07:16:15.382Z,1755760575.382 [DAT](INFO): Rx dataTimestamp_ set to:1755760575.381601
2025-08-21T07:16:15.383Z,1755760575.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020920
2025-08-21T07:16:15.632Z,1755760575.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270287
2025-08-21T07:16:15.740Z,1755760575.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.86 m.
2025-08-21T07:16:15.742Z,1755760575.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.861465 m,
      nav range: 92.285255 m,
      bearing: 15.828231 deg,
      approach rate: -0.629731 m/s,
      LOS rate: 0.024532 deg/s,
      cmd heading: 24.676418 deg,
      new cmd heading: 24.706356 deg.

2025-08-21T07:16:15.764Z,1755760575.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431207 target range: 95.861465 and range: 96.40 m.
2025-08-21T07:16:15.885Z,1755760575.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523067
2025-08-21T07:16:16.143Z,1755760576.143 [DAT](INFO): DAT read: 07:16:14.2475 LVL= 24640, 31857, 22706, 32755, AGC= 67, IDX= 417, 0.39, 1.109,-0.405, 1.582, 1.085, PHS= 0.125,-1.445, 0.453, RAW= 159.3,   9.9, CAL= 159.2,  10.7, ROT= 350.8, -10.7

2025-08-21T07:16:16.145Z,1755760576.145 [DAT](INFO): got valid direction response:
 07:16:14.2475 LVL= 24640, 31857, 22706, 32755, AGC= 67, IDX= 417, 0.39, 1.109,-0.405, 1.582, 1.085, PHS= 0.125,-1.445, 0.453, RAW= 159.3,   9.9, CAL= 159.2,  10.7, ROT= 350.8, -10.7

2025-08-21T07:16:16.146Z,1755760576.146 [DAT](INFO): DAT read: Bearing 194.3,  -7.4 (Local)

2025-08-21T07:16:16.147Z,1755760576.147 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.3,  -7.4 (Local)

2025-08-21T07:16:16.150Z,1755760576.150 [DAT](INFO): DAT read: Range 11 to 50 : 94.0 m  (Round-trip  125.4 ms) speed  0.8 m/s

2025-08-21T07:16:16.152Z,1755760576.152 [DAT](INFO): DAT read: user:2148>

2025-08-21T07:16:16.153Z,1755760576.153 [DAT](INFO): DAT read: Tx time:07:16:15.3679

2025-08-21T07:16:16.153Z,1755760576.153 [DAT](INFO): Ping request sent.
2025-08-21T07:16:16.153Z,1755760576.153 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:16.154Z,1755760576.154 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:16.172Z,1755760576.172 [DAT](INFO): direction in FSK: [0.969973,-0.157101,0.185667]
2025-08-21T07:16:16.173Z,1755760576.173 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:16.173Z,1755760576.173 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:16.194Z,1755760576.194 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:16.194Z,1755760576.194 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:16.238Z,1755760576.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 94.000000 m,
      deltaT: 3.786002 s,
      deltaX: -2.400002 m,
      approachRate: -0.633914 m/s,
      rangeRepo size: 4

2025-08-21T07:16:16.245Z,1755760576.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 93.476364 m,
      bearing: 15.537249 deg,
      lat: 36.779374 deg,
      lon: -121.859360 deg,
      deltaT: 3.786002 s,
      deltaX: -2.385101 m,
      approachRate: -0.629979 m/s,
      posRepo size: 4

2025-08-21T07:16:16.246Z,1755760576.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.48 m.
2025-08-21T07:16:16.257Z,1755760576.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.476364 m,
      nav range: 91.825897 m,
      bearing: 15.519644 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.024532 deg/s,
      cmd heading: 24.706355 deg,
      new cmd heading: 24.742986 deg.

2025-08-21T07:16:16.258Z,1755760576.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431847 target range: 93.476364 and range: 94.00 m.
2025-08-21T07:16:16.624Z,1755760576.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.48 m.
2025-08-21T07:16:16.627Z,1755760576.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.476364 m,
      nav range: 91.584221 m,
      bearing: 15.527344 deg,
      approach rate: -0.625257 m/s,
      LOS rate: 0.019975 deg/s,
      cmd heading: 24.742985 deg,
      new cmd heading: 24.766148 deg.

2025-08-21T07:16:16.632Z,1755760576.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432251 target range: 93.476364 and range: 94.00 m.
2025-08-21T07:16:17.038Z,1755760577.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:17.040Z,1755760577.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.48 m.
2025-08-21T07:16:17.043Z,1755760577.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.476364 m,
      nav range: 91.299377 m,
      bearing: 15.535364 deg,
      approach rate: -0.684290 m/s,
      LOS rate: 0.019327 deg/s,
      cmd heading: 24.766148 deg,
      new cmd heading: 24.790283 deg.

2025-08-21T07:16:17.044Z,1755760577.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432672 target range: 93.476364 and range: 94.00 m.
2025-08-21T07:16:17.145Z,1755760577.145 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:17.145Z,1755760577.145 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:17.145Z,1755760577.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:17.396Z,1755760577.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242834
2025-08-21T07:16:17.436Z,1755760577.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.48 m.
2025-08-21T07:16:17.438Z,1755760577.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.476364 m,
      nav range: 91.040680 m,
      bearing: 15.542540 deg,
      approach rate: -0.654841 m/s,
      LOS rate: 0.018216 deg/s,
      cmd heading: 24.790283 deg,
      new cmd heading: 24.811871 deg.

2025-08-21T07:16:17.439Z,1755760577.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433049 target range: 93.476364 and range: 94.00 m.
2025-08-21T07:16:17.648Z,1755760577.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494668
2025-08-21T07:16:17.884Z,1755760577.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.48 m.
2025-08-21T07:16:17.886Z,1755760577.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.476364 m,
      nav range: 90.764320 m,
      bearing: 15.550147 deg,
      approach rate: -0.616101 m/s,
      LOS rate: 0.017010 deg/s,
      cmd heading: 24.811871 deg,
      new cmd heading: 24.834762 deg.

2025-08-21T07:16:17.893Z,1755760577.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433448 target range: 93.476364 and range: 94.00 m.
2025-08-21T07:16:17.900Z,1755760577.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746812
2025-08-21T07:16:18.156Z,1755760578.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001771
2025-08-21T07:16:18.382Z,1755760578.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.48 m.
2025-08-21T07:16:18.385Z,1755760578.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.476364 m,
      nav range: 90.429710 m,
      bearing: 15.556801 deg,
      approach rate: -0.672088 m/s,
      LOS rate: 0.013416 deg/s,
      cmd heading: 24.834762 deg,
      new cmd heading: 24.854800 deg.

2025-08-21T07:16:18.386Z,1755760578.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433798 target range: 93.476364 and range: 94.00 m.
2025-08-21T07:16:18.404Z,1755760578.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250791
2025-08-21T07:16:18.658Z,1755760578.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504375
2025-08-21T07:16:18.767Z,1755760578.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.48 m.
2025-08-21T07:16:18.769Z,1755760578.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.476364 m,
      nav range: 90.183784 m,
      bearing: 15.561667 deg,
      approach rate: -0.639300 m/s,
      LOS rate: 0.012684 deg/s,
      cmd heading: 24.854801 deg,
      new cmd heading: 24.869438 deg.

2025-08-21T07:16:18.770Z,1755760578.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434054 target range: 93.476364 and range: 94.00 m.
2025-08-21T07:16:18.909Z,1755760578.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755038
2025-08-21T07:16:19.161Z,1755760579.161 [DAT](INFO): DAT read: Rx Time:07:16:17.8944

2025-08-21T07:16:19.163Z,1755760579.163 [DAT](INFO): Rx dataTimestamp_ set to:1755760579.161897
2025-08-21T07:16:19.164Z,1755760579.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010268
2025-08-21T07:16:19.248Z,1755760579.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:19.250Z,1755760579.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.48 m.
2025-08-21T07:16:19.253Z,1755760579.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.476364 m,
      nav range: 89.874298 m,
      bearing: 15.568248 deg,
      approach rate: -0.639720 m/s,
      LOS rate: 0.013649 deg/s,
      cmd heading: 24.869438 deg,
      new cmd heading: 24.889247 deg.

2025-08-21T07:16:19.254Z,1755760579.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434399 target range: 93.476364 and range: 94.00 m.
2025-08-21T07:16:19.412Z,1755760579.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258664
2025-08-21T07:16:19.680Z,1755760579.680 [DAT](INFO): DAT read: 07:16:17.8944 LVL= 30624, 32753, 28130, 32755, AGC= 67, IDX= 417, 0.42, 0.375,-1.168, 0.858, 0.355, PHS= 0.123,-1.478, 0.459, RAW= 159.4,  10.0, CAL= 159.3,  10.8, ROT= 350.7, -10.8

2025-08-21T07:16:19.681Z,1755760579.681 [DAT](INFO): got valid direction response:
 07:16:17.8944 LVL= 30624, 32753, 28130, 32755, AGC= 67, IDX= 417, 0.42, 0.375,-1.168, 0.858, 0.355, PHS= 0.123,-1.478, 0.459, RAW= 159.4,  10.0, CAL= 159.3,  10.8, ROT= 350.7, -10.8

2025-08-21T07:16:19.682Z,1755760579.682 [DAT](INFO): DAT read: Bearing 194.8,  -7.4 (Local)

2025-08-21T07:16:19.682Z,1755760579.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.8,  -7.4 (Local)

2025-08-21T07:16:19.688Z,1755760579.688 [DAT](INFO): DAT read: Range 11 to 50 : 91.7 m  (Round-trip  122.3 ms) speed  1.0 m/s

2025-08-21T07:16:19.688Z,1755760579.688 [DAT](INFO): DAT read: user:2149>

2025-08-21T07:16:19.689Z,1755760579.689 [DAT](INFO): DAT read: Tx time:07:16:19.0179

2025-08-21T07:16:19.689Z,1755760579.689 [DAT](INFO): Ping request sent.
2025-08-21T07:16:19.690Z,1755760579.690 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:19.690Z,1755760579.690 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:19.691Z,1755760579.691 [DAT](INFO): direction in FSK: [0.969376,-0.158741,0.187381]
2025-08-21T07:16:19.707Z,1755760579.707 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:19.708Z,1755760579.708 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:19.711Z,1755760579.711 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:19.711Z,1755760579.711 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:19.712Z,1755760579.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.48 m.
2025-08-21T07:16:19.714Z,1755760579.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 93.476364 m,
      nav range: 89.605164 m,
      bearing: 15.573864 deg,
      approach rate: -0.589086 m/s,
      LOS rate: 0.012331 deg/s,
      cmd heading: 24.889247 deg,
      new cmd heading: 24.906148 deg.

2025-08-21T07:16:19.731Z,1755760579.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434694 target range: 93.476364 and range: 94.00 m.
2025-08-21T07:16:20.120Z,1755760580.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 91.699997 m,
      deltaT: 3.528151 s,
      deltaX: -2.300003 m,
      approachRate: -0.651900 m/s,
      rangeRepo size: 4

2025-08-21T07:16:20.122Z,1755760580.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 91.188934 m,
      bearing: 15.784201 deg,
      lat: 36.779374 deg,
      lon: -121.859356 deg,
      deltaT: 3.528151 s,
      deltaX: -2.287430 m,
      approachRate: -0.648337 m/s,
      posRepo size: 4

2025-08-21T07:16:20.123Z,1755760580.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.19 m.
2025-08-21T07:16:20.130Z,1755760580.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.188934 m,
      nav range: 89.436768 m,
      bearing: 15.785845 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.012331 deg/s,
      cmd heading: 24.906148 deg,
      new cmd heading: 24.921225 deg.

2025-08-21T07:16:20.131Z,1755760580.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434957 target range: 91.188934 and range: 91.70 m.
2025-08-21T07:16:20.493Z,1755760580.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.19 m.
2025-08-21T07:16:20.495Z,1755760580.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.188934 m,
      nav range: 89.184189 m,
      bearing: 15.793183 deg,
      approach rate: -0.668474 m/s,
      LOS rate: 0.019476 deg/s,
      cmd heading: 24.921226 deg,
      new cmd heading: 24.943303 deg.

2025-08-21T07:16:20.496Z,1755760580.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435343 target range: 91.188934 and range: 91.70 m.
2025-08-21T07:16:20.938Z,1755760580.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.19 m.
2025-08-21T07:16:20.957Z,1755760580.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.188934 m,
      nav range: 88.903023 m,
      bearing: 15.801100 deg,
      approach rate: -0.631614 m/s,
      LOS rate: 0.017840 deg/s,
      cmd heading: 24.943303 deg,
      new cmd heading: 24.967128 deg.

2025-08-21T07:16:20.958Z,1755760580.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435759 target range: 91.188934 and range: 91.70 m.
2025-08-21T07:16:21.305Z,1755760581.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:21.307Z,1755760581.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.19 m.
2025-08-21T07:16:21.310Z,1755760581.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.188934 m,
      nav range: 88.669601 m,
      bearing: 15.807643 deg,
      approach rate: -0.632196 m/s,
      LOS rate: 0.017769 deg/s,
      cmd heading: 24.967128 deg,
      new cmd heading: 24.986810 deg.

2025-08-21T07:16:21.311Z,1755760581.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436102 target range: 91.188934 and range: 91.70 m.
2025-08-21T07:16:21.432Z,1755760581.432 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:21.432Z,1755760581.432 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:21.432Z,1755760581.432 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:21.684Z,1755760581.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994694
2025-08-21T07:16:21.733Z,1755760581.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.19 m.
2025-08-21T07:16:21.736Z,1755760581.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.188934 m,
      nav range: 88.405319 m,
      bearing: 15.814979 deg,
      approach rate: -0.621082 m/s,
      LOS rate: 0.017292 deg/s,
      cmd heading: 24.986809 deg,
      new cmd heading: 25.008883 deg.

2025-08-21T07:16:21.737Z,1755760581.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436487 target range: 91.188934 and range: 91.70 m.
2025-08-21T07:16:21.936Z,1755760581.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246713
2025-08-21T07:16:22.125Z,1755760582.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.19 m.
2025-08-21T07:16:22.127Z,1755760582.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.188934 m,
      nav range: 88.156113 m,
      bearing: 15.823490 deg,
      approach rate: -0.635653 m/s,
      LOS rate: 0.021771 deg/s,
      cmd heading: 25.008883 deg,
      new cmd heading: 25.034488 deg.

2025-08-21T07:16:22.128Z,1755760582.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436934 target range: 91.188934 and range: 91.70 m.
2025-08-21T07:16:22.190Z,1755760582.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500829
2025-08-21T07:16:22.440Z,1755760582.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750651
2025-08-21T07:16:22.512Z,1755760582.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.19 m.
2025-08-21T07:16:22.515Z,1755760582.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.188934 m,
      nav range: 87.914932 m,
      bearing: 15.831721 deg,
      approach rate: -0.621960 m/s,
      LOS rate: 0.021285 deg/s,
      cmd heading: 25.034487 deg,
      new cmd heading: 25.059249 deg.

2025-08-21T07:16:22.516Z,1755760582.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437366 target range: 91.188934 and range: 91.70 m.
2025-08-21T07:16:22.695Z,1755760582.695 [DAT](INFO): DAT read: Rx Time:07:16:21.5414

2025-08-21T07:16:22.696Z,1755760582.696 [DAT](INFO): Rx dataTimestamp_ set to:1755760582.695217
2025-08-21T07:16:22.696Z,1755760582.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006486
2025-08-21T07:16:22.944Z,1755760582.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254722
2025-08-21T07:16:22.965Z,1755760582.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.19 m.
2025-08-21T07:16:22.988Z,1755760582.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.188934 m,
      nav range: 87.634209 m,
      bearing: 15.839792 deg,
      approach rate: -0.619780 m/s,
      LOS rate: 0.017877 deg/s,
      cmd heading: 25.059249 deg,
      new cmd heading: 25.083540 deg.

2025-08-21T07:16:22.989Z,1755760582.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437790 target range: 91.188934 and range: 91.70 m.
2025-08-21T07:16:23.197Z,1755760583.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507116
2025-08-21T07:16:23.324Z,1755760583.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:23.326Z,1755760583.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.19 m.
2025-08-21T07:16:23.328Z,1755760583.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 91.188934 m,
      nav range: 87.411339 m,
      bearing: 15.846223 deg,
      approach rate: -0.618605 m/s,
      LOS rate: 0.017894 deg/s,
      cmd heading: 25.083540 deg,
      new cmd heading: 25.102881 deg.

2025-08-21T07:16:23.329Z,1755760583.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438128 target range: 91.188934 and range: 91.70 m.
2025-08-21T07:16:23.454Z,1755760583.454 [DAT](INFO): DAT read: 07:16:21.5414 LVL= 30128, 32753, 25330, 32755, AGC= 66, IDX= 418,-0.16, 1.679, 0.202, 2.202, 1.676, PHS= 0.106,-1.429, 0.483, RAW= 160.7,   9.6, CAL= 160.6,  10.3, ROT= 349.4, -10.3

2025-08-21T07:16:23.455Z,1755760583.455 [DAT](INFO): got valid direction response:
 07:16:21.5414 LVL= 30128, 32753, 25330, 32755, AGC= 66, IDX= 418,-0.16, 1.679, 0.202, 2.202, 1.676, PHS= 0.106,-1.429, 0.483, RAW= 160.7,   9.6, CAL= 160.6,  10.3, ROT= 349.4, -10.3

2025-08-21T07:16:23.456Z,1755760583.456 [DAT](INFO): DAT read: Bearing 194.5,  -9.1 (Local)

2025-08-21T07:16:23.457Z,1755760583.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing 194.5,  -9.1 (Local)

2025-08-21T07:16:23.458Z,1755760583.458 [DAT](INFO): DAT read: Range 11 to 50 : 89.4 m  (Round-trip  119.3 ms) speed  0.4 m/s

2025-08-21T07:16:23.459Z,1755760583.459 [DAT](INFO): DAT read: user:2150>

2025-08-21T07:16:23.460Z,1755760583.460 [DAT](INFO): DAT read: Tx time:07:16:22.6679

2025-08-21T07:16:23.460Z,1755760583.460 [DAT](INFO): Ping request sent.
2025-08-21T07:16:23.460Z,1755760583.460 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:23.460Z,1755760583.460 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:23.461Z,1755760583.461 [DAT](INFO): direction in FSK: [0.967095,-0.180987,0.178802]
2025-08-21T07:16:23.462Z,1755760583.462 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:23.462Z,1755760583.462 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:23.465Z,1755760583.465 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:23.465Z,1755760583.465 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:23.749Z,1755760583.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.400002 m,
      deltaT: 3.783887 s,
      deltaX: -2.299995 m,
      approachRate: -0.607839 m/s,
      rangeRepo size: 4

2025-08-21T07:16:23.752Z,1755760583.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 88.901375 m,
      bearing: 14.729422 deg,
      lat: 36.779374 deg,
      lon: -121.859356 deg,
      deltaT: 3.783887 s,
      deltaX: -2.287560 m,
      approachRate: -0.604553 m/s,
      posRepo size: 4

2025-08-21T07:16:23.752Z,1755760583.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.90 m.
2025-08-21T07:16:23.755Z,1755760583.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.901375 m,
      nav range: 87.167648 m,
      bearing: 15.851685 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017894 deg/s,
      cmd heading: 25.102882 deg,
      new cmd heading: 25.125605 deg.

2025-08-21T07:16:23.756Z,1755760583.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438525 target range: 88.901375 and range: 89.40 m.
2025-08-21T07:16:24.187Z,1755760584.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.90 m.
2025-08-21T07:16:24.193Z,1755760584.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.901375 m,
      nav range: 86.894226 m,
      bearing: 15.862165 deg,
      approach rate: -0.624501 m/s,
      LOS rate: 0.024012 deg/s,
      cmd heading: 25.125606 deg,
      new cmd heading: 25.157145 deg.

2025-08-21T07:16:24.194Z,1755760584.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439075 target range: 88.901375 and range: 89.40 m.
2025-08-21T07:16:24.540Z,1755760584.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.90 m.
2025-08-21T07:16:24.542Z,1755760584.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.901375 m,
      nav range: 86.669121 m,
      bearing: 15.870828 deg,
      approach rate: -0.638332 m/s,
      LOS rate: 0.024628 deg/s,
      cmd heading: 25.157146 deg,
      new cmd heading: 25.183200 deg.

2025-08-21T07:16:24.543Z,1755760584.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439530 target range: 88.901375 and range: 89.40 m.
2025-08-21T07:16:24.992Z,1755760584.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.90 m.
2025-08-21T07:16:24.995Z,1755760584.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.901375 m,
      nav range: 86.388649 m,
      bearing: 15.881361 deg,
      approach rate: -0.619110 m/s,
      LOS rate: 0.023327 deg/s,
      cmd heading: 25.183201 deg,
      new cmd heading: 25.214904 deg.

2025-08-21T07:16:25.017Z,1755760585.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440083 target range: 88.901375 and range: 89.40 m.
2025-08-21T07:16:25.350Z,1755760585.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:25.352Z,1755760585.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.90 m.
2025-08-21T07:16:25.355Z,1755760585.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.901375 m,
      nav range: 86.165855 m,
      bearing: 15.889708 deg,
      approach rate: -0.618862 m/s,
      LOS rate: 0.023244 deg/s,
      cmd heading: 25.214903 deg,
      new cmd heading: 25.240008 deg.

2025-08-21T07:16:25.356Z,1755760585.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440521 target range: 88.901375 and range: 89.40 m.
2025-08-21T07:16:25.473Z,1755760585.473 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:25.473Z,1755760585.473 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:25.474Z,1755760585.474 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:25.724Z,1755760585.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264147
2025-08-21T07:16:25.752Z,1755760585.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.90 m.
2025-08-21T07:16:25.754Z,1755760585.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.901375 m,
      nav range: 85.918137 m,
      bearing: 15.899027 deg,
      approach rate: -0.619895 m/s,
      LOS rate: 0.023388 deg/s,
      cmd heading: 25.240008 deg,
      new cmd heading: 25.268046 deg.

2025-08-21T07:16:25.756Z,1755760585.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441011 target range: 88.901375 and range: 89.40 m.
2025-08-21T07:16:25.980Z,1755760585.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518680
2025-08-21T07:16:26.197Z,1755760586.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.90 m.
2025-08-21T07:16:26.200Z,1755760586.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.901375 m,
      nav range: 85.638641 m,
      bearing: 15.908893 deg,
      approach rate: -0.628110 m/s,
      LOS rate: 0.022245 deg/s,
      cmd heading: 25.268046 deg,
      new cmd heading: 25.297741 deg.

2025-08-21T07:16:26.201Z,1755760586.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441529 target range: 88.901375 and range: 89.40 m.
2025-08-21T07:16:26.228Z,1755760586.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768209
2025-08-21T07:16:26.481Z,1755760586.481 [DAT](INFO): DAT read: Rx Time:07:16:25.1883

2025-08-21T07:16:26.482Z,1755760586.482 [DAT](INFO): Rx dataTimestamp_ set to:1755760586.481581
2025-08-21T07:16:26.482Z,1755760586.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022268
2025-08-21T07:16:26.563Z,1755760586.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.90 m.
2025-08-21T07:16:26.566Z,1755760586.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 88.901375 m,
      nav range: 85.408661 m,
      bearing: 15.916978 deg,
      approach rate: -0.628427 m/s,
      LOS rate: 0.022153 deg/s,
      cmd heading: 25.297742 deg,
      new cmd heading: 25.322063 deg.

2025-08-21T07:16:26.567Z,1755760586.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441953 target range: 88.901375 and range: 89.40 m.
2025-08-21T07:16:26.732Z,1755760586.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272099
2025-08-21T07:16:26.990Z,1755760586.990 [DAT](INFO): DAT read: 07:16:25.1883 LVL= 31088, 32753, 27858, 32755, AGC= 69, IDX= 403, 0.42,-2.168, 2.594,-1.652,-2.149, PHS= 0.083,-1.495, 0.454, RAW= 160.3,  10.7, CAL= 160.4,  11.8, ROT= 349.6, -11.8

2025-08-21T07:16:26.991Z,1755760586.991 [DAT](INFO): got valid direction response:
 07:16:25.1883 LVL= 31088, 32753, 27858, 32755, AGC= 69, IDX= 403, 0.42,-2.168, 2.594,-1.652,-2.149, PHS= 0.083,-1.495, 0.454, RAW= 160.3,  10.7, CAL= 160.4,  11.8, ROT= 349.6, -11.8

2025-08-21T07:16:26.992Z,1755760586.992 [DAT](INFO): DAT read: Bearing 196.1,  -9.4 (Local)

2025-08-21T07:16:26.993Z,1755760586.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.1,  -9.4 (Local)

2025-08-21T07:16:26.994Z,1755760586.994 [DAT](INFO): DAT read: Range 11 to 50 : 87.2 m  (Round-trip  116.3 ms) speed  0.6 m/s

2025-08-21T07:16:26.995Z,1755760586.995 [DAT](INFO): DAT read: user:2151>

2025-08-21T07:16:26.997Z,1755760586.997 [DAT](INFO): DAT read: Tx time:07:16:26.3179

2025-08-21T07:16:26.997Z,1755760586.997 [DAT](INFO): Ping request sent.
2025-08-21T07:16:26.997Z,1755760586.997 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:26.997Z,1755760586.997 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:26.998Z,1755760586.998 [DAT](INFO): direction in FSK: [0.962786,-0.176704,0.204496]
2025-08-21T07:16:26.998Z,1755760586.998 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:26.999Z,1755760586.999 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:27.002Z,1755760587.002 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:27.002Z,1755760587.002 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:27.121Z,1755760587.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.199997 m,
      deltaT: 3.536142 s,
      deltaX: -2.200005 m,
      approachRate: -0.622148 m/s,
      rangeRepo size: 4

2025-08-21T07:16:27.132Z,1755760587.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 86.713272 m,
      bearing: 15.029593 deg,
      lat: 36.779374 deg,
      lon: -121.859360 deg,
      deltaT: 3.536142 s,
      deltaX: -2.188103 m,
      approachRate: -0.618782 m/s,
      posRepo size: 4

2025-08-21T07:16:27.133Z,1755760587.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.71 m.
2025-08-21T07:16:27.152Z,1755760587.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.713272 m,
      nav range: 84.982231 m,
      bearing: 15.712566 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.022153 deg/s,
      cmd heading: 25.322062 deg,
      new cmd heading: 25.359118 deg.

2025-08-21T07:16:27.154Z,1755760587.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442600 target range: 86.713272 and range: 87.20 m.
2025-08-21T07:16:27.450Z,1755760587.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:27.456Z,1755760587.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.71 m.
2025-08-21T07:16:27.459Z,1755760587.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.713272 m,
      nav range: 84.772888 m,
      bearing: 15.718893 deg,
      approach rate: -0.623395 m/s,
      LOS rate: 0.018890 deg/s,
      cmd heading: 25.359118 deg,
      new cmd heading: 25.378148 deg.

2025-08-21T07:16:27.465Z,1755760587.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442932 target range: 86.713272 and range: 87.20 m.
2025-08-21T07:16:27.488Z,1755760587.488 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:27.488Z,1755760587.488 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:27.489Z,1755760587.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:27.740Z,1755760587.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.743394
2025-08-21T07:16:27.844Z,1755760587.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.71 m.
2025-08-21T07:16:27.846Z,1755760587.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.713272 m,
      nav range: 84.530998 m,
      bearing: 15.726149 deg,
      approach rate: -0.623900 m/s,
      LOS rate: 0.018766 deg/s,
      cmd heading: 25.378148 deg,
      new cmd heading: 25.399976 deg.

2025-08-21T07:16:27.852Z,1755760587.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.443313 target range: 86.713272 and range: 87.20 m.
2025-08-21T07:16:27.995Z,1755760587.995 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997578
2025-08-21T07:16:28.244Z,1755760588.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247420
2025-08-21T07:16:28.257Z,1755760588.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.71 m.
2025-08-21T07:16:28.260Z,1755760588.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.713272 m,
      nav range: 84.269653 m,
      bearing: 15.736204 deg,
      approach rate: -0.633181 m/s,
      LOS rate: 0.024439 deg/s,
      cmd heading: 25.399976 deg,
      new cmd heading: 25.430237 deg.

2025-08-21T07:16:28.260Z,1755760588.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.443841 target range: 86.713272 and range: 87.20 m.
2025-08-21T07:16:28.497Z,1755760588.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499765
2025-08-21T07:16:28.680Z,1755760588.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.71 m.
2025-08-21T07:16:28.683Z,1755760588.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.713272 m,
      nav range: 84.029022 m,
      bearing: 15.745452 deg,
      approach rate: -0.568267 m/s,
      LOS rate: 0.021901 deg/s,
      cmd heading: 25.430237 deg,
      new cmd heading: 25.458059 deg.

2025-08-21T07:16:28.689Z,1755760588.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444327 target range: 86.713272 and range: 87.20 m.
2025-08-21T07:16:28.748Z,1755760588.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751509
2025-08-21T07:16:29.003Z,1755760589.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005625
2025-08-21T07:16:29.077Z,1755760589.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.71 m.
2025-08-21T07:16:29.080Z,1755760589.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.713272 m,
      nav range: 83.758766 m,
      bearing: 15.753107 deg,
      approach rate: -0.681909 m/s,
      LOS rate: 0.019378 deg/s,
      cmd heading: 25.458058 deg,
      new cmd heading: 25.481098 deg.

2025-08-21T07:16:29.081Z,1755760589.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444729 target range: 86.713272 and range: 87.20 m.
2025-08-21T07:16:29.252Z,1755760589.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255364
2025-08-21T07:16:29.451Z,1755760589.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:29.453Z,1755760589.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.71 m.
2025-08-21T07:16:29.456Z,1755760589.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.713272 m,
      nav range: 83.520981 m,
      bearing: 15.759928 deg,
      approach rate: -0.631211 m/s,
      LOS rate: 0.018157 deg/s,
      cmd heading: 25.481098 deg,
      new cmd heading: 25.501618 deg.

2025-08-21T07:16:29.457Z,1755760589.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445087 target range: 86.713272 and range: 87.20 m.
2025-08-21T07:16:29.505Z,1755760589.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508311
2025-08-21T07:16:29.756Z,1755760589.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759271
2025-08-21T07:16:29.851Z,1755760589.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.71 m.
2025-08-21T07:16:29.853Z,1755760589.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.713272 m,
      nav range: 83.269760 m,
      bearing: 15.767239 deg,
      approach rate: -0.632196 m/s,
      LOS rate: 0.018455 deg/s,
      cmd heading: 25.501618 deg,
      new cmd heading: 25.523618 deg.

2025-08-21T07:16:29.854Z,1755760589.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445471 target range: 86.713272 and range: 87.20 m.
2025-08-21T07:16:30.011Z,1755760590.011 [DAT](INFO): DAT read: Rx Time:07:16:28.8353

2025-08-21T07:16:30.013Z,1755760590.013 [DAT](INFO): Rx dataTimestamp_ set to:1755760590.011881
2025-08-21T07:16:30.015Z,1755760590.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017132
2025-08-21T07:16:30.260Z,1755760590.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263309
2025-08-21T07:16:30.284Z,1755760590.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.71 m.
2025-08-21T07:16:30.287Z,1755760590.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.713272 m,
      nav range: 83.001068 m,
      bearing: 15.775901 deg,
      approach rate: -0.619679 m/s,
      LOS rate: 0.020041 deg/s,
      cmd heading: 25.523618 deg,
      new cmd heading: 25.549687 deg.

2025-08-21T07:16:30.288Z,1755760590.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445926 target range: 86.713272 and range: 87.20 m.
2025-08-21T07:16:30.516Z,1755760590.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518356
2025-08-21T07:16:30.698Z,1755760590.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.71 m.
2025-08-21T07:16:30.701Z,1755760590.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 86.713272 m,
      nav range: 82.744537 m,
      bearing: 15.784223 deg,
      approach rate: -0.620044 m/s,
      LOS rate: 0.020177 deg/s,
      cmd heading: 25.549687 deg,
      new cmd heading: 25.574730 deg.

2025-08-21T07:16:30.702Z,1755760590.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446363 target range: 86.713272 and range: 87.20 m.
2025-08-21T07:16:30.770Z,1755760590.770 [DAT](INFO): DAT read: 07:16:28.8353 LVL= 26512, 32753, 25906, 32755, AGC= 67, IDX= 404,-0.16, 1.886, 0.442, 2.415, 1.901, PHS= 0.087,-1.414, 0.470, RAW= 161.1,  10.0, CAL= 161.0,  10.8, ROT= 349.0, -10.8

2025-08-21T07:16:30.773Z,1755760590.773 [DAT](INFO): got valid direction response:
 07:16:28.8353 LVL= 26512, 32753, 25906, 32755, AGC= 67, IDX= 404,-0.16, 1.886, 0.442, 2.415, 1.901, PHS= 0.087,-1.414, 0.470, RAW= 161.1,  10.0, CAL= 161.0,  10.8, ROT= 349.0, -10.8

2025-08-21T07:16:30.774Z,1755760590.774 [DAT](INFO): DAT read: Bearing 195.5, -10.4 (Local)

2025-08-21T07:16:30.774Z,1755760590.774 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.5, -10.4 (Local)

2025-08-21T07:16:30.776Z,1755760590.776 [DAT](INFO): DAT read: Range 11 to 50 : 84.9 m  (Round-trip  113.2 ms) speed  0.6 m/s

2025-08-21T07:16:30.777Z,1755760590.777 [DAT](INFO): DAT read: user:2152>

2025-08-21T07:16:30.777Z,1755760590.777 [DAT](INFO): DAT read: Tx time:07:16:29.9179

2025-08-21T07:16:30.778Z,1755760590.778 [DAT](INFO): Ping request sent.
2025-08-21T07:16:30.778Z,1755760590.778 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:30.778Z,1755760590.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:30.780Z,1755760590.780 [DAT](INFO): direction in FSK: [0.964240,-0.187429,0.187381]
2025-08-21T07:16:30.780Z,1755760590.780 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:30.781Z,1755760590.781 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:30.787Z,1755760590.787 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:30.787Z,1755760590.787 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:31.120Z,1755760591.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.900002 m,
      deltaT: 3.779887 s,
      deltaX: -2.299995 m,
      approachRate: -0.608483 m/s,
      rangeRepo size: 4

2025-08-21T07:16:31.125Z,1755760591.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.426338 m,
      bearing: 14.581746 deg,
      lat: 36.779377 deg,
      lon: -121.859370 deg,
      deltaT: 3.779887 s,
      deltaX: -2.286934 m,
      approachRate: -0.605027 m/s,
      posRepo size: 4

2025-08-21T07:16:31.125Z,1755760591.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.43 m.
2025-08-21T07:16:31.129Z,1755760591.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.426338 m,
      nav range: 82.544258 m,
      bearing: 15.088944 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.020177 deg/s,
      cmd heading: 25.574730 deg,
      new cmd heading: 25.600114 deg.

2025-08-21T07:16:31.152Z,1755760591.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446806 target range: 84.426338 and range: 84.90 m.
2025-08-21T07:16:31.482Z,1755760591.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:31.484Z,1755760591.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.43 m.
2025-08-21T07:16:31.487Z,1755760591.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.426338 m,
      nav range: 82.310677 m,
      bearing: 15.094537 deg,
      approach rate: -0.636360 m/s,
      LOS rate: 0.015280 deg/s,
      cmd heading: 25.600114 deg,
      new cmd heading: 25.616941 deg.

2025-08-21T07:16:31.488Z,1755760591.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447100 target range: 84.426338 and range: 84.90 m.
2025-08-21T07:16:31.520Z,1755760591.520 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:31.521Z,1755760591.521 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:31.521Z,1755760591.521 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:31.556Z,1755760591.556 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:16:31.772Z,1755760591.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994370
2025-08-21T07:16:31.899Z,1755760591.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.43 m.
2025-08-21T07:16:31.906Z,1755760591.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.426338 m,
      nav range: 82.059853 m,
      bearing: 15.100507 deg,
      approach rate: -0.629165 m/s,
      LOS rate: 0.015021 deg/s,
      cmd heading: 25.616940 deg,
      new cmd heading: 25.634905 deg.

2025-08-21T07:16:31.907Z,1755760591.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447414 target range: 84.426338 and range: 84.90 m.
2025-08-21T07:16:32.027Z,1755760592.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248488
2025-08-21T07:16:32.276Z,1755760592.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498300
2025-08-21T07:16:32.327Z,1755760592.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.43 m.
2025-08-21T07:16:32.337Z,1755760592.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.426338 m,
      nav range: 81.781746 m,
      bearing: 15.103358 deg,
      approach rate: -0.627006 m/s,
      LOS rate: 0.006448 deg/s,
      cmd heading: 25.634905 deg,
      new cmd heading: 25.643486 deg.

2025-08-21T07:16:32.338Z,1755760592.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447563 target range: 84.426338 and range: 84.90 m.
2025-08-21T07:16:32.528Z,1755760592.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750365
2025-08-21T07:16:32.560Z,1755760592.560 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:16:32.700Z,1755760592.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.43 m.
2025-08-21T07:16:32.703Z,1755760592.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.426338 m,
      nav range: 81.528259 m,
      bearing: 15.105925 deg,
      approach rate: -0.678443 m/s,
      LOS rate: 0.006894 deg/s,
      cmd heading: 25.643486 deg,
      new cmd heading: 25.651213 deg.

2025-08-21T07:16:32.704Z,1755760592.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447698 target range: 84.426338 and range: 84.90 m.
2025-08-21T07:16:32.780Z,1755760592.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002582
2025-08-21T07:16:33.035Z,1755760593.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256418
2025-08-21T07:16:33.147Z,1755760593.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.43 m.
2025-08-21T07:16:33.151Z,1755760593.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.426338 m,
      nav range: 81.242851 m,
      bearing: 15.109714 deg,
      approach rate: -0.639356 m/s,
      LOS rate: 0.008518 deg/s,
      cmd heading: 25.651213 deg,
      new cmd heading: 25.662620 deg.

2025-08-21T07:16:33.153Z,1755760593.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447897 target range: 84.426338 and range: 84.90 m.
2025-08-21T07:16:33.287Z,1755760593.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509597
2025-08-21T07:16:33.497Z,1755760593.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:33.511Z,1755760593.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.43 m.
2025-08-21T07:16:33.514Z,1755760593.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.426338 m,
      nav range: 81.010750 m,
      bearing: 15.112754 deg,
      approach rate: -0.658377 m/s,
      LOS rate: 0.008645 deg/s,
      cmd heading: 25.662619 deg,
      new cmd heading: 25.671762 deg.

2025-08-21T07:16:33.515Z,1755760593.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448057 target range: 84.426338 and range: 84.90 m.
2025-08-21T07:16:33.536Z,1755760593.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758538
2025-08-21T07:16:33.789Z,1755760593.789 [DAT](INFO): DAT read: Rx Time:07:16:32.4322

2025-08-21T07:16:33.790Z,1755760593.790 [DAT](INFO): Rx dataTimestamp_ set to:1755760593.789213
2025-08-21T07:16:33.790Z,1755760593.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012572
2025-08-21T07:16:33.921Z,1755760593.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.43 m.
2025-08-21T07:16:33.924Z,1755760593.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.426338 m,
      nav range: 80.737564 m,
      bearing: 15.116223 deg,
      approach rate: -0.647789 m/s,
      LOS rate: 0.008255 deg/s,
      cmd heading: 25.671763 deg,
      new cmd heading: 25.682207 deg.

2025-08-21T07:16:33.925Z,1755760593.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448239 target range: 84.426338 and range: 84.90 m.
2025-08-21T07:16:34.043Z,1755760594.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264403
2025-08-21T07:16:34.298Z,1755760594.298 [DAT](INFO): DAT read: 07:16:32.4322 LVL= 29360, 32753, 27634, 32755, AGC= 66, IDX= 404, 0.15, 1.755, 0.255, 2.286, 1.776, PHS= 0.080,-1.477, 0.466, RAW= 160.8,  10.5, CAL= 160.8,  11.4, ROT= 349.2, -11.4

2025-08-21T07:16:34.299Z,1755760594.299 [DAT](INFO): got valid direction response:
 07:16:32.4322 LVL= 29360, 32753, 27634, 32755, AGC= 66, IDX= 404, 0.15, 1.755, 0.255, 2.286, 1.776, PHS= 0.080,-1.477, 0.466, RAW= 160.8,  10.5, CAL= 160.8,  11.4, ROT= 349.2, -11.4

2025-08-21T07:16:34.300Z,1755760594.300 [DAT](INFO): DAT read: Bearing 196.3, -10.6 (Local)

2025-08-21T07:16:34.301Z,1755760594.301 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.3, -10.6 (Local)

2025-08-21T07:16:34.302Z,1755760594.302 [DAT](INFO): DAT read: Range 11 to 50 : 82.5 m  (Round-trip  110.1 ms) speed  0.6 m/s

2025-08-21T07:16:34.303Z,1755760594.303 [DAT](INFO): DAT read: user:2153>

2025-08-21T07:16:34.308Z,1755760594.308 [DAT](INFO): DAT read: Tx time:07:16:33.5178

2025-08-21T07:16:34.308Z,1755760594.308 [DAT](INFO): Ping request sent.
2025-08-21T07:16:34.308Z,1755760594.308 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:34.309Z,1755760594.309 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:34.310Z,1755760594.310 [DAT](INFO): direction in FSK: [0.962908,-0.183684,0.197657]
2025-08-21T07:16:34.310Z,1755760594.310 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:34.310Z,1755760594.310 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:34.333Z,1755760594.333 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:34.334Z,1755760594.334 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:34.422Z,1755760594.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 82.500000 m,
      deltaT: 3.527917 s,
      deltaX: -2.400002 m,
      approachRate: -0.680289 m/s,
      rangeRepo size: 4

2025-08-21T07:16:34.428Z,1755760594.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 82.039719 m,
      bearing: 14.981245 deg,
      lat: 36.779380 deg,
      lon: -121.859371 deg,
      deltaT: 3.527917 s,
      deltaX: -2.386620 m,
      approachRate: -0.676495 m/s,
      posRepo size: 4

2025-08-21T07:16:34.429Z,1755760594.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.04 m.
2025-08-21T07:16:34.441Z,1755760594.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.039719 m,
      nav range: 80.785393 m,
      bearing: 14.981110 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.008255 deg/s,
      cmd heading: 25.682206 deg,
      new cmd heading: 25.694603 deg.

2025-08-21T07:16:34.441Z,1755760594.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448455 target range: 82.039719 and range: 82.50 m.
2025-08-21T07:16:34.781Z,1755760594.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.04 m.
2025-08-21T07:16:34.784Z,1755760594.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.039719 m,
      nav range: 80.543777 m,
      bearing: 14.983000 deg,
      approach rate: -0.672035 m/s,
      LOS rate: 0.005273 deg/s,
      cmd heading: 25.694603 deg,
      new cmd heading: 25.700291 deg.

2025-08-21T07:16:34.785Z,1755760594.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448555 target range: 82.039719 and range: 82.50 m.
2025-08-21T07:16:35.230Z,1755760595.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.04 m.
2025-08-21T07:16:35.236Z,1755760595.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.039719 m,
      nav range: 80.268173 m,
      bearing: 14.984782 deg,
      approach rate: -0.614293 m/s,
      LOS rate: 0.003986 deg/s,
      cmd heading: 25.700291 deg,
      new cmd heading: 25.705656 deg.

2025-08-21T07:16:35.237Z,1755760595.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448648 target range: 82.039719 and range: 82.50 m.
2025-08-21T07:16:35.591Z,1755760595.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:35.593Z,1755760595.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.04 m.
2025-08-21T07:16:35.596Z,1755760595.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.039719 m,
      nav range: 80.021889 m,
      bearing: 14.986394 deg,
      approach rate: -0.676955 m/s,
      LOS rate: 0.004443 deg/s,
      cmd heading: 25.705656 deg,
      new cmd heading: 25.710506 deg.

2025-08-21T07:16:35.597Z,1755760595.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448733 target range: 82.039719 and range: 82.50 m.
2025-08-21T07:16:35.804Z,1755760595.804 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:35.804Z,1755760595.804 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:35.804Z,1755760595.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:35.999Z,1755760595.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.04 m.
2025-08-21T07:16:36.002Z,1755760596.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.039719 m,
      nav range: 79.760429 m,
      bearing: 14.988094 deg,
      approach rate: -0.644764 m/s,
      LOS rate: 0.004207 deg/s,
      cmd heading: 25.710505 deg,
      new cmd heading: 25.715623 deg.

2025-08-21T07:16:36.003Z,1755760596.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448822 target range: 82.039719 and range: 82.50 m.
2025-08-21T07:16:36.057Z,1755760596.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748900
2025-08-21T07:16:36.308Z,1755760596.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999910
2025-08-21T07:16:36.431Z,1755760596.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.04 m.
2025-08-21T07:16:36.434Z,1755760596.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.039719 m,
      nav range: 79.486107 m,
      bearing: 14.991046 deg,
      approach rate: -0.635463 m/s,
      LOS rate: 0.006861 deg/s,
      cmd heading: 25.715623 deg,
      new cmd heading: 25.724508 deg.

2025-08-21T07:16:36.434Z,1755760596.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448977 target range: 82.039719 and range: 82.50 m.
2025-08-21T07:16:36.560Z,1755760596.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251998
2025-08-21T07:16:36.808Z,1755760596.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.04 m.
2025-08-21T07:16:36.810Z,1755760596.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.039719 m,
      nav range: 79.245659 m,
      bearing: 14.993586 deg,
      approach rate: -0.638142 m/s,
      LOS rate: 0.006762 deg/s,
      cmd heading: 25.724509 deg,
      new cmd heading: 25.732153 deg.

2025-08-21T07:16:36.812Z,1755760596.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503993
2025-08-21T07:16:36.813Z,1755760596.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449111 target range: 82.039719 and range: 82.50 m.
2025-08-21T07:16:37.065Z,1755760597.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756519
2025-08-21T07:16:37.242Z,1755760597.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.04 m.
2025-08-21T07:16:37.249Z,1755760597.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.039719 m,
      nav range: 78.982277 m,
      bearing: 14.998645 deg,
      approach rate: -0.606348 m/s,
      LOS rate: 0.011685 deg/s,
      cmd heading: 25.732154 deg,
      new cmd heading: 25.747381 deg.

2025-08-21T07:16:37.250Z,1755760597.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449377 target range: 82.039719 and range: 82.50 m.
2025-08-21T07:16:37.317Z,1755760597.317 [DAT](INFO): DAT read: Rx Time:07:16:36.0291

2025-08-21T07:16:37.318Z,1755760597.318 [DAT](INFO): Rx dataTimestamp_ set to:1755760597.317354
2025-08-21T07:16:37.319Z,1755760597.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010206
2025-08-21T07:16:37.568Z,1755760597.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259847
2025-08-21T07:16:37.636Z,1755760597.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:37.638Z,1755760597.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.04 m.
2025-08-21T07:16:37.644Z,1755760597.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 82.039719 m,
      nav range: 78.734283 m,
      bearing: 15.003359 deg,
      approach rate: -0.626510 m/s,
      LOS rate: 0.011946 deg/s,
      cmd heading: 25.747382 deg,
      new cmd heading: 25.761568 deg.

2025-08-21T07:16:37.645Z,1755760597.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449624 target range: 82.039719 and range: 82.50 m.
2025-08-21T07:16:37.826Z,1755760597.826 [DAT](INFO): DAT read: 07:16:36.0291 LVL= 27504, 32753, 23810, 32755, AGC= 66, IDX= 406,-0.14, 1.219,-0.296, 1.785, 1.305, PHS= 0.016,-1.556, 0.436, RAW= 161.5,  12.1, CAL= 161.8,  13.7, ROT= 348.2, -13.7

2025-08-21T07:16:37.827Z,1755760597.827 [DAT](INFO): got valid direction response:
 07:16:36.0291 LVL= 27504, 32753, 23810, 32755, AGC= 66, IDX= 406,-0.14, 1.219,-0.296, 1.785, 1.305, PHS= 0.016,-1.556, 0.436, RAW= 161.5,  12.1, CAL= 161.8,  13.7, ROT= 348.2, -13.7

2025-08-21T07:16:37.828Z,1755760597.828 [DAT](INFO): DAT read: Bearing 198.8, -11.8 (Local)

2025-08-21T07:16:37.828Z,1755760597.828 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.8, -11.8 (Local)

2025-08-21T07:16:37.830Z,1755760597.830 [DAT](INFO): DAT read: Range 11 to 50 : 80.4 m  (Round-trip  107.2 ms) speed  0.5 m/s

2025-08-21T07:16:37.830Z,1755760597.830 [DAT](INFO): DAT read: user:2154>

2025-08-21T07:16:37.831Z,1755760597.831 [DAT](INFO): DAT read: Tx time:07:16:37.1178

2025-08-21T07:16:37.832Z,1755760597.832 [DAT](INFO): Ping request sent.
2025-08-21T07:16:37.832Z,1755760597.832 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:37.832Z,1755760597.832 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:37.833Z,1755760597.833 [DAT](INFO): direction in FSK: [0.951018,-0.198678,0.236838]
2025-08-21T07:16:37.833Z,1755760597.833 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:37.834Z,1755760597.834 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:37.837Z,1755760597.837 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:37.837Z,1755760597.837 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:38.053Z,1755760598.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 80.400002 m,
      deltaT: 3.527934 s,
      deltaX: -2.099998 m,
      approachRate: -0.595249 m/s,
      rangeRepo size: 4

2025-08-21T07:16:38.055Z,1755760598.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.951584 m,
      bearing: 14.056462 deg,
      lat: 36.779381 deg,
      lon: -121.859373 deg,
      deltaT: 3.527934 s,
      deltaX: -2.088135 m,
      approachRate: -0.591886 m/s,
      posRepo size: 4

2025-08-21T07:16:38.060Z,1755760598.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.95 m.
2025-08-21T07:16:38.062Z,1755760598.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.951584 m,
      nav range: 78.483276 m,
      bearing: 14.876163 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.011946 deg/s,
      cmd heading: 25.761568 deg,
      new cmd heading: 25.776424 deg.

2025-08-21T07:16:38.067Z,1755760598.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449883 target range: 79.951584 and range: 80.40 m.
2025-08-21T07:16:38.477Z,1755760598.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.95 m.
2025-08-21T07:16:38.484Z,1755760598.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.951584 m,
      nav range: 78.219971 m,
      bearing: 14.884916 deg,
      approach rate: -0.619522 m/s,
      LOS rate: 0.020663 deg/s,
      cmd heading: 25.776424 deg,
      new cmd heading: 25.802770 deg.

2025-08-21T07:16:38.485Z,1755760598.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450343 target range: 79.951584 and range: 80.40 m.
2025-08-21T07:16:38.853Z,1755760598.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.95 m.
2025-08-21T07:16:38.856Z,1755760598.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.951584 m,
      nav range: 77.986931 m,
      bearing: 14.892620 deg,
      approach rate: -0.620270 m/s,
      LOS rate: 0.020567 deg/s,
      cmd heading: 25.802769 deg,
      new cmd heading: 25.825951 deg.

2025-08-21T07:16:38.857Z,1755760598.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450748 target range: 79.951584 and range: 80.40 m.
2025-08-21T07:16:39.284Z,1755760599.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.95 m.
2025-08-21T07:16:39.286Z,1755760599.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.951584 m,
      nav range: 77.727531 m,
      bearing: 14.901591 deg,
      approach rate: -0.602085 m/s,
      LOS rate: 0.020893 deg/s,
      cmd heading: 25.825951 deg,
      new cmd heading: 25.852955 deg.

2025-08-21T07:16:39.291Z,1755760599.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451219 target range: 79.951584 and range: 80.40 m.
2025-08-21T07:16:39.664Z,1755760599.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:39.666Z,1755760599.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.95 m.
2025-08-21T07:16:39.669Z,1755760599.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.951584 m,
      nav range: 77.497246 m,
      bearing: 14.909597 deg,
      approach rate: -0.601898 m/s,
      LOS rate: 0.020985 deg/s,
      cmd heading: 25.852956 deg,
      new cmd heading: 25.877042 deg.

2025-08-21T07:16:39.670Z,1755760599.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451640 target range: 79.951584 and range: 80.40 m.
2025-08-21T07:16:39.836Z,1755760599.836 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:39.836Z,1755760599.836 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:39.836Z,1755760599.836 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:40.073Z,1755760600.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.95 m.
2025-08-21T07:16:40.076Z,1755760600.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.951584 m,
      nav range: 77.252388 m,
      bearing: 14.918160 deg,
      approach rate: -0.602076 m/s,
      LOS rate: 0.021124 deg/s,
      cmd heading: 25.877043 deg,
      new cmd heading: 25.902815 deg.

2025-08-21T07:16:40.077Z,1755760600.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452089 target range: 79.951584 and range: 80.40 m.
2025-08-21T07:16:40.107Z,1755760600.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258882
2025-08-21T07:16:40.340Z,1755760600.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508338
2025-08-21T07:16:40.486Z,1755760600.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.95 m.
2025-08-21T07:16:40.500Z,1755760600.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.951584 m,
      nav range: 77.003716 m,
      bearing: 14.927951 deg,
      approach rate: -0.602559 m/s,
      LOS rate: 0.023800 deg/s,
      cmd heading: 25.902815 deg,
      new cmd heading: 25.932281 deg.

2025-08-21T07:16:40.501Z,1755760600.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452604 target range: 79.951584 and range: 80.40 m.
2025-08-21T07:16:40.594Z,1755760600.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762150
2025-08-21T07:16:40.849Z,1755760600.849 [DAT](INFO): DAT read: Rx Time:07:16:39.6261

2025-08-21T07:16:40.849Z,1755760600.849 [DAT](INFO): Rx dataTimestamp_ set to:1755760600.848937
2025-08-21T07:16:40.850Z,1755760600.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017853
2025-08-21T07:16:40.904Z,1755760600.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.95 m.
2025-08-21T07:16:40.907Z,1755760600.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.951584 m,
      nav range: 76.774879 m,
      bearing: 14.937054 deg,
      approach rate: -0.546498 m/s,
      LOS rate: 0.021805 deg/s,
      cmd heading: 25.932280 deg,
      new cmd heading: 25.959672 deg.

2025-08-21T07:16:40.913Z,1755760600.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453082 target range: 79.951584 and range: 80.40 m.
2025-08-21T07:16:41.101Z,1755760601.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268904
2025-08-21T07:16:41.348Z,1755760601.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.95 m.
2025-08-21T07:16:41.359Z,1755760601.359 [DAT](INFO): DAT read: 07:16:39.6261 LVL= 27536, 31937, 21650, 32755, AGC= 67, IDX= 407,-0.23,-1.273,-2.745,-0.696,-1.199, PHS= 0.028,-1.501, 0.459, RAW= 162.1,  11.4, CAL= 162.2,  12.7, ROT= 347.8, -12.7

2025-08-21T07:16:41.360Z,1755760601.360 [DAT](INFO): got valid direction response:
 07:16:39.6261 LVL= 27536, 31937, 21650, 32755, AGC= 67, IDX= 407,-0.23,-1.273,-2.745,-0.696,-1.199, PHS= 0.028,-1.501, 0.459, RAW= 162.1,  11.4, CAL= 162.2,  12.7, ROT= 347.8, -12.7

2025-08-21T07:16:41.361Z,1755760601.361 [DAT](INFO): DAT read: Bearing 198.0, -12.5 (Local)

2025-08-21T07:16:41.361Z,1755760601.361 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.0, -12.5 (Local)

2025-08-21T07:16:41.363Z,1755760601.363 [DAT](INFO): DAT read: Range 11 to 50 : 78.0 m  (Round-trip  104.1 ms) speed  0.6 m/s

2025-08-21T07:16:41.364Z,1755760601.364 [DAT](INFO): DAT read: user:2155>

2025-08-21T07:16:41.364Z,1755760601.364 [DAT](INFO): DAT read: Tx time:07:16:40.7178

2025-08-21T07:16:41.365Z,1755760601.365 [DAT](INFO): Ping request sent.
2025-08-21T07:16:41.365Z,1755760601.365 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:41.365Z,1755760601.365 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:41.366Z,1755760601.366 [DAT](INFO): direction in FSK: [0.953503,-0.206155,0.219846]
2025-08-21T07:16:41.366Z,1755760601.366 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:41.366Z,1755760601.366 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:41.370Z,1755760601.370 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:41.370Z,1755760601.370 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:41.376Z,1755760601.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.951584 m,
      nav range: 76.525398 m,
      bearing: 14.948343 deg,
      approach rate: -0.570393 m/s,
      LOS rate: 0.025894 deg/s,
      cmd heading: 25.959671 deg,
      new cmd heading: 25.993647 deg.

2025-08-21T07:16:41.377Z,1755760601.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453675 target range: 79.951584 and range: 80.40 m.
2025-08-21T07:16:41.704Z,1755760601.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 78.000000 m,
      deltaT: 3.532156 s,
      deltaX: -2.400002 m,
      approachRate: -0.679472 m/s,
      rangeRepo size: 4

2025-08-21T07:16:41.706Z,1755760601.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 77.564713 m,
      bearing: 13.765311 deg,
      lat: 36.779381 deg,
      lon: -121.859376 deg,
      deltaT: 3.532156 s,
      deltaX: -2.386871 m,
      approachRate: -0.675755 m/s,
      posRepo size: 4

2025-08-21T07:16:41.706Z,1755760601.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.56 m.
2025-08-21T07:16:41.709Z,1755760601.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.564713 m,
      nav range: 76.239548 m,
      bearing: 14.752677 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.025894 deg/s,
      cmd heading: 25.993648 deg,
      new cmd heading: 26.021690 deg.

2025-08-21T07:16:41.710Z,1755760601.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454164 target range: 77.564713 and range: 78.00 m.
2025-08-21T07:16:42.123Z,1755760602.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:42.125Z,1755760602.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.56 m.
2025-08-21T07:16:42.128Z,1755760602.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.564713 m,
      nav range: 75.985489 m,
      bearing: 14.763643 deg,
      approach rate: -0.601576 m/s,
      LOS rate: 0.026051 deg/s,
      cmd heading: 26.021689 deg,
      new cmd heading: 26.054695 deg.

2025-08-21T07:16:42.129Z,1755760602.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454740 target range: 77.564713 and range: 78.00 m.
2025-08-21T07:16:42.360Z,1755760602.360 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:42.360Z,1755760602.360 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:42.361Z,1755760602.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:42.529Z,1755760602.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.56 m.
2025-08-21T07:16:42.532Z,1755760602.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.564713 m,
      nav range: 75.733009 m,
      bearing: 14.769465 deg,
      approach rate: -0.625428 m/s,
      LOS rate: 0.014469 deg/s,
      cmd heading: 26.054696 deg,
      new cmd heading: 26.072219 deg.

2025-08-21T07:16:42.533Z,1755760602.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455046 target range: 77.564713 and range: 78.00 m.
2025-08-21T07:16:42.614Z,1755760602.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249217
2025-08-21T07:16:42.864Z,1755760602.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499527
2025-08-21T07:16:42.923Z,1755760602.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.56 m.
2025-08-21T07:16:42.925Z,1755760602.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.564713 m,
      nav range: 75.490349 m,
      bearing: 14.774987 deg,
      approach rate: -0.616229 m/s,
      LOS rate: 0.014069 deg/s,
      cmd heading: 26.072219 deg,
      new cmd heading: 26.088838 deg.

2025-08-21T07:16:42.926Z,1755760602.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455336 target range: 77.564713 and range: 78.00 m.
2025-08-21T07:16:43.120Z,1755760603.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755044
2025-08-21T07:16:43.340Z,1755760603.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.56 m.
2025-08-21T07:16:43.343Z,1755760603.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.564713 m,
      nav range: 75.225937 m,
      bearing: 14.779660 deg,
      approach rate: -0.632990 m/s,
      LOS rate: 0.011228 deg/s,
      cmd heading: 26.088838 deg,
      new cmd heading: 26.102908 deg.

2025-08-21T07:16:43.344Z,1755760603.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455582 target range: 77.564713 and range: 78.00 m.
2025-08-21T07:16:43.401Z,1755760603.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.036145
2025-08-21T07:16:43.621Z,1755760603.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256135
2025-08-21T07:16:43.733Z,1755760603.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.56 m.
2025-08-21T07:16:43.735Z,1755760603.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.564713 m,
      nav range: 74.989723 m,
      bearing: 14.784014 deg,
      approach rate: -0.602098 m/s,
      LOS rate: 0.011131 deg/s,
      cmd heading: 26.102908 deg,
      new cmd heading: 26.116009 deg.

2025-08-21T07:16:43.736Z,1755760603.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455810 target range: 77.564713 and range: 78.00 m.
2025-08-21T07:16:43.872Z,1755760603.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507527
2025-08-21T07:16:44.125Z,1755760604.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759907
2025-08-21T07:16:44.160Z,1755760604.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:44.175Z,1755760604.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.56 m.
2025-08-21T07:16:44.179Z,1755760604.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.564713 m,
      nav range: 74.730408 m,
      bearing: 14.788810 deg,
      approach rate: -0.602332 m/s,
      LOS rate: 0.011180 deg/s,
      cmd heading: 26.116009 deg,
      new cmd heading: 26.130449 deg.

2025-08-21T07:16:44.210Z,1755760604.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456062 target range: 77.564713 and range: 78.00 m.
2025-08-21T07:16:44.376Z,1755760604.376 [DAT](INFO): DAT read: Rx Time:07:16:43.2231

2025-08-21T07:16:44.377Z,1755760604.377 [DAT](INFO): Rx dataTimestamp_ set to:1755760604.376526
2025-08-21T07:16:44.377Z,1755760604.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012686
2025-08-21T07:16:44.548Z,1755760604.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.56 m.
2025-08-21T07:16:44.551Z,1755760604.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.564713 m,
      nav range: 74.463684 m,
      bearing: 14.790810 deg,
      approach rate: -0.692380 m/s,
      LOS rate: 0.005209 deg/s,
      cmd heading: 26.130448 deg,
      new cmd heading: 26.136467 deg.

2025-08-21T07:16:44.553Z,1755760604.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456167 target range: 77.564713 and range: 78.00 m.
2025-08-21T07:16:44.628Z,1755760604.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263651
2025-08-21T07:16:44.884Z,1755760604.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518865
2025-08-21T07:16:44.999Z,1755760604.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 77.56 m.
2025-08-21T07:16:45.001Z,1755760605.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 77.564713 m,
      nav range: 74.188980 m,
      bearing: 14.792770 deg,
      approach rate: -0.610074 m/s,
      LOS rate: 0.004369 deg/s,
      cmd heading: 26.136467 deg,
      new cmd heading: 26.142369 deg.

2025-08-21T07:16:45.002Z,1755760605.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456270 target range: 77.564713 and range: 78.00 m.
2025-08-21T07:16:45.138Z,1755760605.138 [DAT](INFO): DAT read: 07:16:43.2231 LVL= 30032, 32753, 26562, 32755, AGC= 66, IDX= 408, 0.50,-0.025,-1.561, 0.598, 0.042, PHS= 0.036,-1.558, 0.512, RAW= 162.7,  10.8, CAL= 162.8,  11.9, ROT= 347.2, -11.9

2025-08-21T07:16:45.140Z,1755760605.140 [DAT](INFO): got valid direction response:
 07:16:43.2231 LVL= 30032, 32753, 26562, 32755, AGC= 66, IDX= 408, 0.50,-0.025,-1.561, 0.598, 0.042, PHS= 0.036,-1.558, 0.512, RAW= 162.7,  10.8, CAL= 162.8,  11.9, ROT= 347.2, -11.9

2025-08-21T07:16:45.141Z,1755760605.141 [DAT](INFO): DAT read: Bearing 197.3, -13.4 (Local)

2025-08-21T07:16:45.142Z,1755760605.142 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.3, -13.4 (Local)

2025-08-21T07:16:45.144Z,1755760605.144 [DAT](INFO): DAT read: Range 11 to 50 : 75.8 m  (Round-trip  101.1 ms) speed  0.4 m/s

2025-08-21T07:16:45.145Z,1755760605.145 [DAT](INFO): DAT read: user:2156>

2025-08-21T07:16:45.146Z,1755760605.146 [DAT](INFO): DAT read: Tx time:07:16:44.3178

2025-08-21T07:16:45.146Z,1755760605.146 [DAT](INFO): Ping request sent.
2025-08-21T07:16:45.146Z,1755760605.146 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:45.147Z,1755760605.147 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:45.149Z,1755760605.149 [DAT](INFO): direction in FSK: [0.954192,-0.216787,0.206204]
2025-08-21T07:16:45.149Z,1755760605.149 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:45.150Z,1755760605.150 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:45.154Z,1755760605.154 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:45.155Z,1755760605.155 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:45.402Z,1755760605.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 75.800003 m,
      deltaT: 3.780312 s,
      deltaX: -2.199997 m,
      approachRate: -0.581962 m/s,
      rangeRepo size: 4

2025-08-21T07:16:45.408Z,1755760605.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 75.377464 m,
      bearing: 13.260080 deg,
      lat: 36.779384 deg,
      lon: -121.859386 deg,
      deltaT: 3.780312 s,
      deltaX: -2.187248 m,
      approachRate: -0.578589 m/s,
      posRepo size: 4

2025-08-21T07:16:45.409Z,1755760605.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.38 m.
2025-08-21T07:16:45.415Z,1755760605.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.377464 m,
      nav range: 74.032349 m,
      bearing: 14.072102 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.004369 deg/s,
      cmd heading: 26.142368 deg,
      new cmd heading: 26.147644 deg.

2025-08-21T07:16:45.416Z,1755760605.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456362 target range: 75.377464 and range: 75.80 m.
2025-08-21T07:16:45.758Z,1755760605.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.38 m.
2025-08-21T07:16:45.760Z,1755760605.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.377464 m,
      nav range: 73.791725 m,
      bearing: 14.068132 deg,
      approach rate: -0.674874 m/s,
      LOS rate: -0.011172 deg/s,
      cmd heading: 26.147644 deg,
      new cmd heading: 26.135694 deg.

2025-08-21T07:16:45.761Z,1755760605.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456154 target range: 75.377464 and range: 75.80 m.
2025-08-21T07:16:46.160Z,1755760606.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.38 m.
2025-08-21T07:16:46.180Z,1755760606.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.377464 m,
      nav range: 73.532951 m,
      bearing: 14.063734 deg,
      approach rate: -0.644598 m/s,
      LOS rate: -0.010994 deg/s,
      cmd heading: 26.135695 deg,
      new cmd heading: 26.122454 deg.

2025-08-21T07:16:46.181Z,1755760606.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455923 target range: 75.377464 and range: 75.80 m.
2025-08-21T07:16:46.601Z,1755760606.601 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:46.605Z,1755760606.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.38 m.
2025-08-21T07:16:46.608Z,1755760606.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.377464 m,
      nav range: 73.243614 m,
      bearing: 14.055086 deg,
      approach rate: -0.649181 m/s,
      LOS rate: -0.019479 deg/s,
      cmd heading: 26.122455 deg,
      new cmd heading: 26.096410 deg.

2025-08-21T07:16:46.609Z,1755760606.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455468 target range: 75.377464 and range: 75.80 m.
2025-08-21T07:16:46.644Z,1755760606.644 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:46.644Z,1755760606.644 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:46.645Z,1755760606.645 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:46.900Z,1755760606.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753535
2025-08-21T07:16:46.980Z,1755760606.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.38 m.
2025-08-21T07:16:46.982Z,1755760606.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.377464 m,
      nav range: 72.986298 m,
      bearing: 14.047245 deg,
      approach rate: -0.686476 m/s,
      LOS rate: -0.020993 deg/s,
      cmd heading: 26.096409 deg,
      new cmd heading: 26.072802 deg.

2025-08-21T07:16:46.983Z,1755760606.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455056 target range: 75.377464 and range: 75.80 m.
2025-08-21T07:16:47.149Z,1755760607.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002890
2025-08-21T07:16:47.400Z,1755760607.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253854
2025-08-21T07:16:47.498Z,1755760607.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.38 m.
2025-08-21T07:16:47.505Z,1755760607.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.377464 m,
      nav range: 72.655098 m,
      bearing: 14.035412 deg,
      approach rate: -0.639042 m/s,
      LOS rate: -0.022935 deg/s,
      cmd heading: 26.072803 deg,
      new cmd heading: 26.037142 deg.

2025-08-21T07:16:47.506Z,1755760607.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454434 target range: 75.377464 and range: 75.80 m.
2025-08-21T07:16:47.653Z,1755760607.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506381
2025-08-21T07:16:47.905Z,1755760607.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758577
2025-08-21T07:16:47.976Z,1755760607.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.38 m.
2025-08-21T07:16:47.978Z,1755760607.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.377464 m,
      nav range: 72.346970 m,
      bearing: 14.024144 deg,
      approach rate: -0.644947 m/s,
      LOS rate: -0.023686 deg/s,
      cmd heading: 26.037142 deg,
      new cmd heading: 26.003193 deg.

2025-08-21T07:16:47.979Z,1755760607.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453841 target range: 75.377464 and range: 75.80 m.
2025-08-21T07:16:48.157Z,1755760608.157 [DAT](INFO): DAT read: Rx Time:07:16:46.8202

2025-08-21T07:16:48.158Z,1755760608.158 [DAT](INFO): Rx dataTimestamp_ set to:1755760608.157499
2025-08-21T07:16:48.159Z,1755760608.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012335
2025-08-21T07:16:48.408Z,1755760608.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261813
2025-08-21T07:16:48.561Z,1755760608.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 75.38 m.
2025-08-21T07:16:48.568Z,1755760608.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 75.377464 m,
      nav range: 71.959419 m,
      bearing: 14.012577 deg,
      approach rate: -0.662566 m/s,
      LOS rate: -0.019882 deg/s,
      cmd heading: 26.003193 deg,
      new cmd heading: 25.968304 deg.

2025-08-21T07:16:48.570Z,1755760608.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453232 target range: 75.377464 and range: 75.80 m.
2025-08-21T07:16:48.670Z,1755760608.670 [DAT](INFO): DAT read: 07:16:46.8202 LVL= 27440, 32753, 24242, 32755, AGC= 65, IDX= 410, 0.02, 1.497, 0.043, 2.107, 1.577, PHS= 0.022,-1.490, 0.486, RAW= 163.0,  11.0, CAL= 163.1,  12.3, ROT= 346.9, -12.3

2025-08-21T07:16:48.671Z,1755760608.671 [DAT](INFO): got valid direction response:
 07:16:46.8202 LVL= 27440, 32753, 24242, 32755, AGC= 65, IDX= 410, 0.02, 1.497, 0.043, 2.107, 1.577, PHS= 0.022,-1.490, 0.486, RAW= 163.0,  11.0, CAL= 163.1,  12.3, ROT= 346.9, -12.3

2025-08-21T07:16:48.672Z,1755760608.672 [DAT](INFO): DAT read: Bearing 197.8, -13.9 (Local)

2025-08-21T07:16:48.672Z,1755760608.672 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.8, -13.9 (Local)

2025-08-21T07:16:48.674Z,1755760608.674 [DAT](INFO): DAT read: Range 11 to 50 : 73.6 m  (Round-trip  98.2 ms) speed  0.5 m/s

2025-08-21T07:16:48.674Z,1755760608.674 [DAT](INFO): DAT read: user:2157>

2025-08-21T07:16:48.675Z,1755760608.675 [DAT](INFO): DAT read: Tx time:07:16:47.9178

2025-08-21T07:16:48.676Z,1755760608.676 [DAT](INFO): Ping request sent.
2025-08-21T07:16:48.676Z,1755760608.676 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:48.676Z,1755760608.676 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:48.677Z,1755760608.677 [DAT](INFO): direction in FSK: [0.951619,-0.221449,0.213030]
2025-08-21T07:16:48.677Z,1755760608.677 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:48.678Z,1755760608.678 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:48.725Z,1755760608.725 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:48.725Z,1755760608.725 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:48.940Z,1755760608.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.599998 m,
      deltaT: 3.528131 s,
      deltaX: -2.200005 m,
      approachRate: -0.623561 m/s,
      rangeRepo size: 4

2025-08-21T07:16:48.942Z,1755760608.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.188622 m,
      bearing: 13.185191 deg,
      lat: 36.779384 deg,
      lon: -121.859391 deg,
      deltaT: 3.528131 s,
      deltaX: -2.188843 m,
      approachRate: -0.620397 m/s,
      posRepo size: 4

2025-08-21T07:16:48.943Z,1755760608.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m.
2025-08-21T07:16:48.945Z,1755760608.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.188622 m,
      nav range: 71.610504 m,
      bearing: 13.695634 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019882 deg/s,
      cmd heading: 25.968304 deg,
      new cmd heading: 25.945726 deg.

2025-08-21T07:16:48.946Z,1755760608.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452838 target range: 73.188622 and range: 73.60 m.
2025-08-21T07:16:49.380Z,1755760609.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:49.382Z,1755760609.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m.
2025-08-21T07:16:49.389Z,1755760609.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.188622 m,
      nav range: 71.329414 m,
      bearing: 13.683663 deg,
      approach rate: -0.634665 m/s,
      LOS rate: -0.027134 deg/s,
      cmd heading: 25.945727 deg,
      new cmd heading: 25.909674 deg.

2025-08-21T07:16:49.390Z,1755760609.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452209 target range: 73.188622 and range: 73.60 m.
2025-08-21T07:16:49.416Z,1755760609.416 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:49.416Z,1755760609.416 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:49.416Z,1755760609.416 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:49.672Z,1755760609.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996432
2025-08-21T07:16:49.762Z,1755760609.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m.
2025-08-21T07:16:49.768Z,1755760609.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.188622 m,
      nav range: 71.065773 m,
      bearing: 13.672108 deg,
      approach rate: -0.694863 m/s,
      LOS rate: -0.030567 deg/s,
      cmd heading: 25.909674 deg,
      new cmd heading: 25.874881 deg.

2025-08-21T07:16:49.769Z,1755760609.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451602 target range: 73.188622 and range: 73.60 m.
2025-08-21T07:16:49.925Z,1755760609.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248673
2025-08-21T07:16:50.177Z,1755760610.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500844
2025-08-21T07:16:50.179Z,1755760610.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m.
2025-08-21T07:16:50.182Z,1755760610.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.188622 m,
      nav range: 70.794868 m,
      bearing: 13.660024 deg,
      approach rate: -0.648893 m/s,
      LOS rate: -0.029055 deg/s,
      cmd heading: 25.874881 deg,
      new cmd heading: 25.838490 deg.

2025-08-21T07:16:50.183Z,1755760610.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450967 target range: 73.188622 and range: 73.60 m.
2025-08-21T07:16:50.429Z,1755760610.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752731
2025-08-21T07:16:50.606Z,1755760610.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m.
2025-08-21T07:16:50.625Z,1755760610.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.188622 m,
      nav range: 70.521942 m,
      bearing: 13.654993 deg,
      approach rate: -0.638958 m/s,
      LOS rate: -0.011824 deg/s,
      cmd heading: 25.838490 deg,
      new cmd heading: 25.823338 deg.

2025-08-21T07:16:50.626Z,1755760610.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450702 target range: 73.188622 and range: 73.60 m.
2025-08-21T07:16:50.680Z,1755760610.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004581
2025-08-21T07:16:50.932Z,1755760610.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256416
2025-08-21T07:16:50.993Z,1755760610.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m.
2025-08-21T07:16:51.012Z,1755760611.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.188622 m,
      nav range: 70.278053 m,
      bearing: 13.650480 deg,
      approach rate: -0.629942 m/s,
      LOS rate: -0.011698 deg/s,
      cmd heading: 25.823338 deg,
      new cmd heading: 25.809752 deg.

2025-08-21T07:16:51.013Z,1755760611.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450465 target range: 73.188622 and range: 73.60 m.
2025-08-21T07:16:51.184Z,1755760611.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508421
2025-08-21T07:16:51.428Z,1755760611.428 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:51.430Z,1755760611.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m.
2025-08-21T07:16:51.433Z,1755760611.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.188622 m,
      nav range: 70.006073 m,
      bearing: 13.645793 deg,
      approach rate: -0.622999 m/s,
      LOS rate: -0.010779 deg/s,
      cmd heading: 25.809751 deg,
      new cmd heading: 25.795634 deg.

2025-08-21T07:16:51.434Z,1755760611.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450219 target range: 73.188622 and range: 73.60 m.
2025-08-21T07:16:51.436Z,1755760611.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760446
2025-08-21T07:16:51.689Z,1755760611.689 [DAT](INFO): DAT read: Rx Time:07:16:50.4170

2025-08-21T07:16:51.689Z,1755760611.689 [DAT](INFO): Rx dataTimestamp_ set to:1755760611.689163
2025-08-21T07:16:51.690Z,1755760611.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014510
2025-08-21T07:16:51.824Z,1755760611.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.19 m.
2025-08-21T07:16:51.827Z,1755760611.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.188622 m,
      nav range: 69.759743 m,
      bearing: 13.641515 deg,
      approach rate: -0.624509 m/s,
      LOS rate: -0.010882 deg/s,
      cmd heading: 25.795633 deg,
      new cmd heading: 25.782757 deg.

2025-08-21T07:16:51.828Z,1755760611.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449994 target range: 73.188622 and range: 73.60 m.
2025-08-21T07:16:51.940Z,1755760611.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264388
2025-08-21T07:16:52.198Z,1755760612.198 [DAT](INFO): DAT read: 07:16:50.4170 LVL= 28640, 32753, 23378, 32755, AGC= 65, IDX= 410, 0.43, 1.115,-0.368, 1.712, 1.200, PHS= 0.017,-1.523, 0.468, RAW= 162.5,  11.5, CAL= 162.7,  12.9, ROT= 347.3, -12.9

2025-08-21T07:16:52.199Z,1755760612.199 [DAT](INFO): got valid direction response:
 07:16:50.4170 LVL= 28640, 32753, 23378, 32755, AGC= 65, IDX= 410, 0.43, 1.115,-0.368, 1.712, 1.200, PHS= 0.017,-1.523, 0.468, RAW= 162.5,  11.5, CAL= 162.7,  12.9, ROT= 347.3, -12.9

2025-08-21T07:16:52.200Z,1755760612.200 [DAT](INFO): DAT read: Bearing 198.5, -13.5 (Local)

2025-08-21T07:16:52.200Z,1755760612.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing 198.5, -13.5 (Local)

2025-08-21T07:16:52.202Z,1755760612.202 [DAT](INFO): DAT read: Range 11 to 50 : 71.3 m  (Round-trip  95.1 ms) speed  0.5 m/s

2025-08-21T07:16:52.202Z,1755760612.202 [DAT](INFO): DAT read: user:2158>

2025-08-21T07:16:52.203Z,1755760612.203 [DAT](INFO): DAT read: Tx time:07:16:51.5178

2025-08-21T07:16:52.203Z,1755760612.203 [DAT](INFO): Ping request sent.
2025-08-21T07:16:52.204Z,1755760612.204 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:52.204Z,1755760612.204 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:52.205Z,1755760612.205 [DAT](INFO): direction in FSK: [0.950913,-0.214298,0.223250]
2025-08-21T07:16:52.205Z,1755760612.205 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:52.205Z,1755760612.205 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:52.209Z,1755760612.209 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:52.209Z,1755760612.209 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:52.324Z,1755760612.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.300003 m,
      deltaT: 3.531338 s,
      deltaX: -2.299995 m,
      approachRate: -0.651310 m/s,
      rangeRepo size: 4

2025-08-21T07:16:52.340Z,1755760612.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 70.901398 m,
      bearing: 13.724058 deg,
      lat: 36.779386 deg,
      lon: -121.859391 deg,
      deltaT: 3.531338 s,
      deltaX: -2.287224 m,
      approachRate: -0.647693 m/s,
      posRepo size: 4

2025-08-21T07:16:52.343Z,1755760612.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-21T07:16:52.380Z,1755760612.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.901398 m,
      nav range: 69.679771 m,
      bearing: 13.594652 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010882 deg/s,
      cmd heading: 25.782757 deg,
      new cmd heading: 25.766990 deg.

2025-08-21T07:16:52.381Z,1755760612.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449719 target range: 70.901398 and range: 71.30 m.
2025-08-21T07:16:52.737Z,1755760612.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-21T07:16:52.739Z,1755760612.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.901398 m,
      nav range: 69.408501 m,
      bearing: 13.594726 deg,
      approach rate: -0.631909 m/s,
      LOS rate: 0.000172 deg/s,
      cmd heading: 25.766989 deg,
      new cmd heading: 25.767212 deg.

2025-08-21T07:16:52.740Z,1755760612.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449723 target range: 70.901398 and range: 71.30 m.
2025-08-21T07:16:53.115Z,1755760613.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-21T07:16:53.117Z,1755760613.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.901398 m,
      nav range: 69.178772 m,
      bearing: 13.594794 deg,
      approach rate: -0.607611 m/s,
      LOS rate: 0.000180 deg/s,
      cmd heading: 25.767211 deg,
      new cmd heading: 25.767415 deg.

2025-08-21T07:16:53.118Z,1755760613.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449726 target range: 70.901398 and range: 71.30 m.
2025-08-21T07:16:53.550Z,1755760613.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:53.564Z,1755760613.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-21T07:16:53.573Z,1755760613.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.901398 m,
      nav range: 68.917023 m,
      bearing: 13.596987 deg,
      approach rate: -0.589795 m/s,
      LOS rate: 0.004960 deg/s,
      cmd heading: 25.767416 deg,
      new cmd heading: 25.774021 deg.

2025-08-21T07:16:53.579Z,1755760613.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449842 target range: 70.901398 and range: 71.30 m.
2025-08-21T07:16:53.707Z,1755760613.707 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:53.707Z,1755760613.707 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:53.707Z,1755760613.707 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:53.924Z,1755760613.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-21T07:16:53.927Z,1755760613.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.901398 m,
      nav range: 68.690010 m,
      bearing: 13.598944 deg,
      approach rate: -0.620691 m/s,
      LOS rate: 0.005370 deg/s,
      cmd heading: 25.774021 deg,
      new cmd heading: 25.779913 deg.

2025-08-21T07:16:53.928Z,1755760613.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449944 target range: 70.901398 and range: 71.30 m.
2025-08-21T07:16:53.957Z,1755760613.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753117
2025-08-21T07:16:54.208Z,1755760614.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004791
2025-08-21T07:16:54.328Z,1755760614.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-21T07:16:54.330Z,1755760614.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.901398 m,
      nav range: 68.449081 m,
      bearing: 13.601189 deg,
      approach rate: -0.596557 m/s,
      LOS rate: 0.005577 deg/s,
      cmd heading: 25.779912 deg,
      new cmd heading: 25.786669 deg.

2025-08-21T07:16:54.332Z,1755760614.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450062 target range: 70.901398 and range: 71.30 m.
2025-08-21T07:16:54.460Z,1755760614.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256783
2025-08-21T07:16:54.712Z,1755760614.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508782
2025-08-21T07:16:54.758Z,1755760614.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-21T07:16:54.761Z,1755760614.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.901398 m,
      nav range: 68.188560 m,
      bearing: 13.609523 deg,
      approach rate: -0.605719 m/s,
      LOS rate: 0.019451 deg/s,
      cmd heading: 25.786669 deg,
      new cmd heading: 25.811767 deg.

2025-08-21T07:16:54.762Z,1755760614.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450500 target range: 70.901398 and range: 71.30 m.
2025-08-21T07:16:54.964Z,1755760614.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760750
2025-08-21T07:16:55.140Z,1755760615.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-21T07:16:55.144Z,1755760615.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.901398 m,
      nav range: 67.959915 m,
      bearing: 13.617025 deg,
      approach rate: -0.599612 m/s,
      LOS rate: 0.019740 deg/s,
      cmd heading: 25.811766 deg,
      new cmd heading: 25.834348 deg.

2025-08-21T07:16:55.145Z,1755760615.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450894 target range: 70.901398 and range: 71.30 m.
2025-08-21T07:16:55.217Z,1755760615.217 [DAT](INFO): DAT read: Rx Time:07:16:54.0140

2025-08-21T07:16:55.218Z,1755760615.218 [DAT](INFO): Rx dataTimestamp_ set to:1755760615.217548
2025-08-21T07:16:55.219Z,1755760615.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015168
2025-08-21T07:16:55.468Z,1755760615.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264911
2025-08-21T07:16:55.596Z,1755760615.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:55.598Z,1755760615.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.90 m.
2025-08-21T07:16:55.601Z,1755760615.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 70.901398 m,
      nav range: 67.690994 m,
      bearing: 13.625793 deg,
      approach rate: -0.586821 m/s,
      LOS rate: 0.019210 deg/s,
      cmd heading: 25.834349 deg,
      new cmd heading: 25.860759 deg.

2025-08-21T07:16:55.602Z,1755760615.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451355 target range: 70.901398 and range: 71.30 m.
2025-08-21T07:16:55.741Z,1755760615.741 [DAT](INFO): DAT read: 07:16:54.0140 LVL= 32752, 32753, 29490, 32755, AGC= 66, IDX= 411, 0.07,-1.681, 3.091,-1.080,-1.615, PHS= 0.036,-1.533, 0.491, RAW= 162.4,  11.0, CAL= 162.5,  12.2, ROT= 347.5, -12.2

2025-08-21T07:16:55.742Z,1755760615.742 [DAT](INFO): got valid direction response:
 07:16:54.0140 LVL= 32752, 32753, 29490, 32755, AGC= 66, IDX= 411, 0.07,-1.681, 3.091,-1.080,-1.615, PHS= 0.036,-1.533, 0.491, RAW= 162.4,  11.0, CAL= 162.5,  12.2, ROT= 347.5, -12.2

2025-08-21T07:16:55.748Z,1755760615.748 [DAT](INFO): DAT read: Bearing 197.6, -13.3 (Local)

2025-08-21T07:16:55.748Z,1755760615.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.6, -13.3 (Local)

2025-08-21T07:16:55.749Z,1755760615.749 [DAT](INFO): DAT read: Range 11 to 50 : 69.0 m  (Round-trip  92.0 ms) speed  0.5 m/s

2025-08-21T07:16:55.750Z,1755760615.750 [DAT](INFO): DAT read: user:2159>

2025-08-21T07:16:55.751Z,1755760615.751 [DAT](INFO): DAT read: Tx time:07:16:55.1178

2025-08-21T07:16:55.775Z,1755760615.775 [DAT](INFO): Ping request sent.
2025-08-21T07:16:55.775Z,1755760615.775 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:55.776Z,1755760615.776 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:55.777Z,1755760615.777 [DAT](INFO): direction in FSK: [0.954247,-0.211552,0.211325]
2025-08-21T07:16:55.777Z,1755760615.777 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:55.777Z,1755760615.777 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:55.793Z,1755760615.793 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:55.793Z,1755760615.793 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:55.962Z,1755760615.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 69.000000 m,
      deltaT: 3.530008 s,
      deltaX: -2.300003 m,
      approachRate: -0.651557 m/s,
      rangeRepo size: 4

2025-08-21T07:16:55.964Z,1755760615.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.614044 m,
      bearing: 13.827997 deg,
      lat: 36.779386 deg,
      lon: -121.859391 deg,
      deltaT: 3.530008 s,
      deltaX: -2.287354 m,
      approachRate: -0.647974 m/s,
      posRepo size: 4

2025-08-21T07:16:55.965Z,1755760615.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.61 m.
2025-08-21T07:16:55.967Z,1755760615.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.614044 m,
      nav range: 67.511482 m,
      bearing: 13.624749 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019210 deg/s,
      cmd heading: 25.860759 deg,
      new cmd heading: 25.881703 deg.

2025-08-21T07:16:55.968Z,1755760615.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451721 target range: 68.614044 and range: 69.00 m.
2025-08-21T07:16:56.345Z,1755760616.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.61 m.
2025-08-21T07:16:56.348Z,1755760616.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.614044 m,
      nav range: 67.279221 m,
      bearing: 13.632685 deg,
      approach rate: -0.605411 m/s,
      LOS rate: 0.020757 deg/s,
      cmd heading: 25.881702 deg,
      new cmd heading: 25.905592 deg.

2025-08-21T07:16:56.349Z,1755760616.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452138 target range: 68.614044 and range: 69.00 m.
2025-08-21T07:16:56.772Z,1755760616.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.61 m.
2025-08-21T07:16:56.775Z,1755760616.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.614044 m,
      nav range: 67.024132 m,
      bearing: 13.643224 deg,
      approach rate: -0.597031 m/s,
      LOS rate: 0.024760 deg/s,
      cmd heading: 25.905593 deg,
      new cmd heading: 25.937330 deg.

2025-08-21T07:16:56.776Z,1755760616.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452692 target range: 68.614044 and range: 69.00 m.
2025-08-21T07:16:57.165Z,1755760617.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.61 m.
2025-08-21T07:16:57.185Z,1755760617.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.614044 m,
      nav range: 66.792305 m,
      bearing: 13.652975 deg,
      approach rate: -0.589690 m/s,
      LOS rate: 0.024889 deg/s,
      cmd heading: 25.937329 deg,
      new cmd heading: 25.966683 deg.

2025-08-21T07:16:57.186Z,1755760617.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453204 target range: 68.614044 and range: 69.00 m.
2025-08-21T07:16:57.687Z,1755760617.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:57.689Z,1755760617.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.61 m.
2025-08-21T07:16:57.692Z,1755760617.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.614044 m,
      nav range: 66.469940 m,
      bearing: 13.660413 deg,
      approach rate: -0.615397 m/s,
      LOS rate: 0.014268 deg/s,
      cmd heading: 25.966684 deg,
      new cmd heading: 25.989106 deg.

2025-08-21T07:16:57.693Z,1755760617.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453595 target range: 68.614044 and range: 69.00 m.
2025-08-21T07:16:57.736Z,1755760617.736 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:16:57.736Z,1755760617.736 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:16:57.736Z,1755760617.736 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:16:57.988Z,1755760617.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212762
2025-08-21T07:16:58.197Z,1755760618.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.61 m.
2025-08-21T07:16:58.206Z,1755760618.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.614044 m,
      nav range: 66.171906 m,
      bearing: 13.667754 deg,
      approach rate: -0.587055 m/s,
      LOS rate: 0.014524 deg/s,
      cmd heading: 25.989105 deg,
      new cmd heading: 26.011227 deg.

2025-08-21T07:16:58.208Z,1755760618.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453982 target range: 68.614044 and range: 69.00 m.
2025-08-21T07:16:58.240Z,1755760618.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.464649
2025-08-21T07:16:58.492Z,1755760618.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716949
2025-08-21T07:16:58.671Z,1755760618.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.61 m.
2025-08-21T07:16:58.674Z,1755760618.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.614044 m,
      nav range: 65.885063 m,
      bearing: 13.670203 deg,
      approach rate: -0.609965 m/s,
      LOS rate: 0.005231 deg/s,
      cmd heading: 26.011227 deg,
      new cmd heading: 26.018607 deg.

2025-08-21T07:16:58.675Z,1755760618.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454110 target range: 68.614044 and range: 69.00 m.
2025-08-21T07:16:58.745Z,1755760618.745 [DAT](INFO): DAT read: Rx Time:07:16:57.6111

2025-08-21T07:16:58.746Z,1755760618.746 [DAT](INFO): Rx dataTimestamp_ set to:1755760618.745474
2025-08-21T07:16:58.747Z,1755760618.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.970983
2025-08-21T07:16:58.996Z,1755760618.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220686
2025-08-21T07:16:59.066Z,1755760619.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.61 m.
2025-08-21T07:16:59.072Z,1755760619.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.614044 m,
      nav range: 65.639969 m,
      bearing: 13.672365 deg,
      approach rate: -0.615240 m/s,
      LOS rate: 0.005446 deg/s,
      cmd heading: 26.018607 deg,
      new cmd heading: 26.025116 deg.

2025-08-21T07:16:59.073Z,1755760619.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454224 target range: 68.614044 and range: 69.00 m.
2025-08-21T07:16:59.248Z,1755760619.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472985
2025-08-21T07:16:59.506Z,1755760619.506 [DAT](INFO): DAT read: 07:16:57.6111 LVL= 30704, 32753, 22258, 32755, AGC= 66, IDX= 413, 0.31,-2.250, 2.542,-1.668,-2.180, PHS= 0.032,-1.516, 0.468, RAW= 162.1,  11.3, CAL= 162.2,  12.6, ROT= 347.8, -12.6

2025-08-21T07:16:59.507Z,1755760619.507 [DAT](INFO): got valid direction response:
 07:16:57.6111 LVL= 30704, 32753, 22258, 32755, AGC= 66, IDX= 413, 0.31,-2.250, 2.542,-1.668,-2.180, PHS= 0.032,-1.516, 0.468, RAW= 162.1,  11.3, CAL= 162.2,  12.6, ROT= 347.8, -12.6

2025-08-21T07:16:59.508Z,1755760619.508 [DAT](INFO): DAT read: Bearing 197.9, -12.7 (Local)

2025-08-21T07:16:59.508Z,1755760619.508 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.9, -12.7 (Local)

2025-08-21T07:16:59.510Z,1755760619.510 [DAT](INFO): DAT read: Range 11 to 50 : 66.8 m  (Round-trip  89.1 ms) speed  0.8 m/s

2025-08-21T07:16:59.511Z,1755760619.511 [DAT](INFO): DAT read: user:2160>

2025-08-21T07:16:59.512Z,1755760619.512 [DAT](INFO): DAT read: Tx time:07:16:58.7178

2025-08-21T07:16:59.512Z,1755760619.512 [DAT](INFO): Ping request sent.
2025-08-21T07:16:59.512Z,1755760619.512 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:16:59.512Z,1755760619.512 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:16:59.513Z,1755760619.513 [DAT](INFO): direction in FSK: [0.953876,-0.206236,0.218143]
2025-08-21T07:16:59.514Z,1755760619.514 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:59.514Z,1755760619.514 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:59.517Z,1755760619.517 [DAT](INFO): publishing transmit ping time
2025-08-21T07:16:59.517Z,1755760619.517 [DAT](INFO): publishing direction and range info
2025-08-21T07:16:59.582Z,1755760619.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 66.800003 m,
      deltaT: 3.778150 s,
      deltaX: -2.199997 m,
      approachRate: -0.582295 m/s,
      rangeRepo size: 4

2025-08-21T07:16:59.588Z,1755760619.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 66.426231 m,
      bearing: 13.817969 deg,
      lat: 36.779386 deg,
      lon: -121.859389 deg,
      deltaT: 3.778150 s,
      deltaX: -2.187813 m,
      approachRate: -0.579070 m/s,
      posRepo size: 4

2025-08-21T07:16:59.589Z,1755760619.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.43 m.
2025-08-21T07:16:59.596Z,1755760619.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.426231 m,
      nav range: 65.388550 m,
      bearing: 13.792784 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.005446 deg/s,
      cmd heading: 26.025116 deg,
      new cmd heading: 26.033369 deg.

2025-08-21T07:16:59.597Z,1755760619.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454368 target range: 66.426231 and range: 66.80 m.
2025-08-21T07:16:59.889Z,1755760619.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:16:59.891Z,1755760619.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.43 m.
2025-08-21T07:16:59.897Z,1755760619.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.426231 m,
      nav range: 65.144264 m,
      bearing: 13.790319 deg,
      approach rate: -0.762937 m/s,
      LOS rate: -0.007726 deg/s,
      cmd heading: 26.033368 deg,
      new cmd heading: 26.025947 deg.

2025-08-21T07:16:59.898Z,1755760619.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454238 target range: 66.426231 and range: 66.80 m.
2025-08-21T07:17:00.004Z,1755760620.004 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:00.004Z,1755760620.004 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:00.005Z,1755760620.005 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:00.256Z,1755760620.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744311
2025-08-21T07:17:00.257Z,1755760620.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.43 m.
2025-08-21T07:17:00.260Z,1755760620.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.426231 m,
      nav range: 64.908241 m,
      bearing: 13.787987 deg,
      approach rate: -0.647555 m/s,
      LOS rate: -0.006422 deg/s,
      cmd heading: 26.025947 deg,
      new cmd heading: 26.018925 deg.

2025-08-21T07:17:00.261Z,1755760620.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454116 target range: 66.426231 and range: 66.80 m.
2025-08-21T07:17:00.511Z,1755760620.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998536
2025-08-21T07:17:00.692Z,1755760620.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.43 m.
2025-08-21T07:17:00.694Z,1755760620.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.426231 m,
      nav range: 64.642624 m,
      bearing: 13.787232 deg,
      approach rate: -0.608091 m/s,
      LOS rate: -0.001734 deg/s,
      cmd heading: 26.018924 deg,
      new cmd heading: 26.016652 deg.

2025-08-21T07:17:00.700Z,1755760620.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454076 target range: 66.426231 and range: 66.80 m.
2025-08-21T07:17:00.761Z,1755760620.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248976
2025-08-21T07:17:01.012Z,1755760621.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500153
2025-08-21T07:17:01.096Z,1755760621.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.43 m.
2025-08-21T07:17:01.098Z,1755760621.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.426231 m,
      nav range: 64.377930 m,
      bearing: 13.786498 deg,
      approach rate: -0.655325 m/s,
      LOS rate: -0.001827 deg/s,
      cmd heading: 26.016652 deg,
      new cmd heading: 26.014438 deg.

2025-08-21T07:17:01.100Z,1755760621.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454038 target range: 66.426231 and range: 66.80 m.
2025-08-21T07:17:01.264Z,1755760621.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752181
2025-08-21T07:17:01.517Z,1755760621.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004489
2025-08-21T07:17:01.537Z,1755760621.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.43 m.
2025-08-21T07:17:01.576Z,1755760621.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.426231 m,
      nav range: 64.093102 m,
      bearing: 13.777157 deg,
      approach rate: -0.646246 m/s,
      LOS rate: -0.021287 deg/s,
      cmd heading: 26.014439 deg,
      new cmd heading: 25.986292 deg.

2025-08-21T07:17:01.577Z,1755760621.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453546 target range: 66.426231 and range: 66.80 m.
2025-08-21T07:17:01.768Z,1755760621.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256140
2025-08-21T07:17:01.874Z,1755760621.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.43 m.
2025-08-21T07:17:01.877Z,1755760621.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.426231 m,
      nav range: 63.871323 m,
      bearing: 13.769959 deg,
      approach rate: -0.656615 m/s,
      LOS rate: -0.021386 deg/s,
      cmd heading: 25.986291 deg,
      new cmd heading: 25.964622 deg.

2025-08-21T07:17:01.878Z,1755760621.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453168 target range: 66.426231 and range: 66.80 m.
2025-08-21T07:17:02.020Z,1755760622.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508109
2025-08-21T07:17:02.272Z,1755760622.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760239
2025-08-21T07:17:02.271Z,1755760622.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:02.275Z,1755760622.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.43 m.
2025-08-21T07:17:02.277Z,1755760622.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.426231 m,
      nav range: 63.612362 m,
      bearing: 13.761603 deg,
      approach rate: -0.646886 m/s,
      LOS rate: -0.020959 deg/s,
      cmd heading: 25.964621 deg,
      new cmd heading: 25.939450 deg.

2025-08-21T07:17:02.278Z,1755760622.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452729 target range: 66.426231 and range: 66.80 m.
2025-08-21T07:17:02.525Z,1755760622.525 [DAT](INFO): DAT read: Rx Time:07:17:01.2082

2025-08-21T07:17:02.525Z,1755760622.525 [DAT](INFO): Rx dataTimestamp_ set to:1755760622.524893
2025-08-21T07:17:02.526Z,1755760622.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013654
2025-08-21T07:17:02.683Z,1755760622.683 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:17:02.707Z,1755760622.707 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-08-21T07:17:02.707Z,1755760622.707 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-08-21T07:17:02.707Z,1755760622.707 [RDI_Pathfinder](ERROR): Communications Fault
2025-08-21T07:17:02.748Z,1755760622.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.43 m.
2025-08-21T07:17:02.750Z,1755760622.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 66.426231 m,
      nav range: 63.303478 m,
      bearing: 13.751546 deg,
      approach rate: -0.652584 m/s,
      LOS rate: -0.021351 deg/s,
      cmd heading: 25.939450 deg,
      new cmd heading: 25.909133 deg.

2025-08-21T07:17:02.752Z,1755760622.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452200 target range: 66.426231 and range: 66.80 m.
2025-08-21T07:17:02.776Z,1755760622.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264237
2025-08-21T07:17:03.040Z,1755760623.040 [DAT](INFO): DAT read: 07:17:01.2082 LVL= 26032, 32753, 20834, 32755, AGC= 66, IDX= 415,-0.19,-1.458,-2.947,-0.864,-1.394, PHS= 0.039,-1.508, 0.486, RAW= 162.3,  10.9, CAL= 162.4,  12.1, ROT= 347.6, -12.1

2025-08-21T07:17:03.042Z,1755760623.042 [DAT](INFO): got valid direction response:
 07:17:01.2082 LVL= 26032, 32753, 20834, 32755, AGC= 66, IDX= 415,-0.19,-1.458,-2.947,-0.864,-1.394, PHS= 0.039,-1.508, 0.486, RAW= 162.3,  10.9, CAL= 162.4,  12.1, ROT= 347.6, -12.1

2025-08-21T07:17:03.058Z,1755760623.058 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-08-21T07:17:03.062Z,1755760623.062 [DAT](INFO): DAT read: Bearing 197.0, -12.4 (Local)

2025-08-21T07:17:03.062Z,1755760623.062 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.0, -12.4 (Local)

2025-08-21T07:17:03.064Z,1755760623.064 [DAT](INFO): DAT read: Range 11 to 50 : 64.6 m  (Round-trip  86.2 ms) speed  0.5 m/s

2025-08-21T07:17:03.064Z,1755760623.064 [DAT](INFO): DAT read: user:2161>

2025-08-21T07:17:03.065Z,1755760623.065 [DAT](INFO): DAT read: Tx time:07:17:02.3178

2025-08-21T07:17:03.065Z,1755760623.065 [DAT](INFO): Ping request sent.
2025-08-21T07:17:03.065Z,1755760623.065 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:03.066Z,1755760623.066 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:03.067Z,1755760623.067 [DAT](INFO): direction in FSK: [0.954974,-0.209965,0.209619]
2025-08-21T07:17:03.111Z,1755760623.111 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:03.112Z,1755760623.112 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:03.115Z,1755760623.115 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:03.115Z,1755760623.115 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:03.139Z,1755760623.139 [RDI_Pathfinder](INFO): Powering down
2025-08-21T07:17:03.232Z,1755760623.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 64.599998 m,
      deltaT: 3.529294 s,
      deltaX: -2.200005 m,
      approachRate: -0.623355 m/s,
      rangeRepo size: 4

2025-08-21T07:17:03.234Z,1755760623.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 64.238777 m,
      bearing: 13.513608 deg,
      lat: 36.779386 deg,
      lon: -121.859389 deg,
      deltaT: 3.529294 s,
      deltaX: -2.187454 m,
      approachRate: -0.619799 m/s,
      posRepo size: 4

2025-08-21T07:17:03.239Z,1755760623.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.24 m.
2025-08-21T07:17:03.242Z,1755760623.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.238777 m,
      nav range: 63.001194 m,
      bearing: 13.741338 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021351 deg/s,
      cmd heading: 25.909132 deg,
      new cmd heading: 25.878419 deg.

2025-08-21T07:17:03.247Z,1755760623.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451664 target range: 64.238777 and range: 64.60 m.
2025-08-21T07:17:03.606Z,1755760623.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.24 m.
2025-08-21T07:17:03.609Z,1755760623.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.238777 m,
      nav range: 62.745720 m,
      bearing: 13.732545 deg,
      approach rate: -0.674455 m/s,
      LOS rate: -0.023307 deg/s,
      cmd heading: 25.878419 deg,
      new cmd heading: 25.851934 deg.

2025-08-21T07:17:03.610Z,1755760623.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451201 target range: 64.238777 and range: 64.60 m.
2025-08-21T07:17:03.688Z,1755760623.688 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:17:04.029Z,1755760624.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.24 m.
2025-08-21T07:17:04.041Z,1755760624.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.238777 m,
      nav range: 62.479534 m,
      bearing: 13.723307 deg,
      approach rate: -0.630694 m/s,
      LOS rate: -0.021981 deg/s,
      cmd heading: 25.851933 deg,
      new cmd heading: 25.824101 deg.

2025-08-21T07:17:04.043Z,1755760624.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450716 target range: 64.238777 and range: 64.60 m.
2025-08-21T07:17:04.292Z,1755760624.292 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-08-21T07:17:04.292Z,1755760624.292 [RDI_Pathfinder] No Fault, FailCount= 1
2025-08-21T07:17:04.357Z,1755760624.357 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-08-21T07:17:04.370Z,1755760624.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:04.372Z,1755760624.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.24 m.
2025-08-21T07:17:04.375Z,1755760624.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.238777 m,
      nav range: 62.247910 m,
      bearing: 13.715215 deg,
      approach rate: -0.673793 m/s,
      LOS rate: -0.023628 deg/s,
      cmd heading: 25.824102 deg,
      new cmd heading: 25.799734 deg.

2025-08-21T07:17:04.403Z,1755760624.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450290 target range: 64.238777 and range: 64.60 m.
2025-08-21T07:17:04.542Z,1755760624.542 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:04.543Z,1755760624.543 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:04.543Z,1755760624.543 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:04.792Z,1755760624.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726928
2025-08-21T07:17:04.793Z,1755760624.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.24 m.
2025-08-21T07:17:04.795Z,1755760624.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.238777 m,
      nav range: 61.982391 m,
      bearing: 13.705885 deg,
      approach rate: -0.633870 m/s,
      LOS rate: -0.022369 deg/s,
      cmd heading: 25.799733 deg,
      new cmd heading: 25.771623 deg.

2025-08-21T07:17:04.796Z,1755760624.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449800 target range: 64.238777 and range: 64.60 m.
2025-08-21T07:17:05.045Z,1755760625.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979417
2025-08-21T07:17:05.218Z,1755760625.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.24 m.
2025-08-21T07:17:05.221Z,1755760625.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.238777 m,
      nav range: 61.715611 m,
      bearing: 13.696279 deg,
      approach rate: -0.627184 m/s,
      LOS rate: -0.022681 deg/s,
      cmd heading: 25.771624 deg,
      new cmd heading: 25.742681 deg.

2025-08-21T07:17:05.222Z,1755760625.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449295 target range: 64.238777 and range: 64.60 m.
2025-08-21T07:17:05.296Z,1755760625.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.230881
2025-08-21T07:17:05.549Z,1755760625.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484007
2025-08-21T07:17:05.598Z,1755760625.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.24 m.
2025-08-21T07:17:05.601Z,1755760625.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.238777 m,
      nav range: 61.455475 m,
      bearing: 13.686769 deg,
      approach rate: -0.680794 m/s,
      LOS rate: -0.024991 deg/s,
      cmd heading: 25.742681 deg,
      new cmd heading: 25.714033 deg.

2025-08-21T07:17:05.602Z,1755760625.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448795 target range: 64.238777 and range: 64.60 m.
2025-08-21T07:17:05.801Z,1755760625.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735270
2025-08-21T07:17:05.987Z,1755760625.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.24 m.
2025-08-21T07:17:05.990Z,1755760625.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.238777 m,
      nav range: 61.197708 m,
      bearing: 13.677281 deg,
      approach rate: -0.662878 m/s,
      LOS rate: -0.024505 deg/s,
      cmd heading: 25.714033 deg,
      new cmd heading: 25.685447 deg.

2025-08-21T07:17:05.994Z,1755760625.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448296 target range: 64.238777 and range: 64.60 m.
2025-08-21T07:17:06.053Z,1755760626.053 [DAT](INFO): DAT read: Rx Time:07:17:04.8050

2025-08-21T07:17:06.054Z,1755760626.054 [DAT](INFO): Rx dataTimestamp_ set to:1755760626.053673
2025-08-21T07:17:06.054Z,1755760626.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989055
2025-08-21T07:17:06.304Z,1755760626.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238880
2025-08-21T07:17:06.389Z,1755760626.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:06.391Z,1755760626.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.24 m.
2025-08-21T07:17:06.394Z,1755760626.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 64.238777 m,
      nav range: 60.934914 m,
      bearing: 13.667589 deg,
      approach rate: -0.650593 m/s,
      LOS rate: -0.024097 deg/s,
      cmd heading: 25.685447 deg,
      new cmd heading: 25.656246 deg.

2025-08-21T07:17:06.399Z,1755760626.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447786 target range: 64.238777 and range: 64.60 m.
2025-08-21T07:17:06.562Z,1755760626.562 [DAT](INFO): DAT read: 07:17:04.8050 LVL= 32560, 32753, 24546, 32755, AGC= 65, IDX= 415,-0.16,-2.998, 1.821,-2.437,-2.943, PHS= 0.047,-1.474, 0.463, RAW= 161.8,  10.9, CAL= 161.9,  12.1, ROT= 348.1, -12.1

2025-08-21T07:17:06.563Z,1755760626.563 [DAT](INFO): got valid direction response:
 07:17:04.8050 LVL= 32560, 32753, 24546, 32755, AGC= 65, IDX= 415,-0.16,-2.998, 1.821,-2.437,-2.943, PHS= 0.047,-1.474, 0.463, RAW= 161.8,  10.9, CAL= 161.9,  12.1, ROT= 348.1, -12.1

2025-08-21T07:17:06.564Z,1755760626.564 [DAT](INFO): DAT read: Bearing 197.2, -11.3 (Local)

2025-08-21T07:17:06.564Z,1755760626.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.2, -11.3 (Local)

2025-08-21T07:17:06.566Z,1755760626.566 [DAT](INFO): DAT read: Range 11 to 50 : 62.3 m  (Round-trip  83.1 ms) speed  0.5 m/s

2025-08-21T07:17:06.567Z,1755760626.567 [DAT](INFO): DAT read: user:2162>

2025-08-21T07:17:06.568Z,1755760626.568 [DAT](INFO): DAT read: Tx time:07:17:05.9178

2025-08-21T07:17:06.568Z,1755760626.568 [DAT](INFO): Ping request sent.
2025-08-21T07:17:06.568Z,1755760626.568 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:06.568Z,1755760626.568 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:06.569Z,1755760626.569 [DAT](INFO): direction in FSK: [0.956770,-0.201623,0.209619]
2025-08-21T07:17:06.569Z,1755760626.569 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:06.570Z,1755760626.570 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:06.573Z,1755760626.573 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:06.573Z,1755760626.573 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:06.822Z,1755760626.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 62.299999 m,
      deltaT: 3.526629 s,
      deltaX: -2.299999 m,
      approachRate: -0.652181 m/s,
      rangeRepo size: 4

2025-08-21T07:17:06.825Z,1755760626.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 61.951908 m,
      bearing: 14.022192 deg,
      lat: 36.779386 deg,
      lon: -121.859389 deg,
      deltaT: 3.526629 s,
      deltaX: -2.286869 m,
      approachRate: -0.648458 m/s,
      posRepo size: 4

2025-08-21T07:17:06.826Z,1755760626.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.95 m.
2025-08-21T07:17:06.829Z,1755760626.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.951908 m,
      nav range: 60.647503 m,
      bearing: 13.675324 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.024097 deg/s,
      cmd heading: 25.656246 deg,
      new cmd heading: 25.625121 deg.

2025-08-21T07:17:06.830Z,1755760626.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447243 target range: 61.951908 and range: 62.30 m.
2025-08-21T07:17:07.214Z,1755760627.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.95 m.
2025-08-21T07:17:07.217Z,1755760627.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.951908 m,
      nav range: 60.391518 m,
      bearing: 13.666057 deg,
      approach rate: -0.652607 m/s,
      LOS rate: -0.023726 deg/s,
      cmd heading: 25.625121 deg,
      new cmd heading: 25.597202 deg.

2025-08-21T07:17:07.218Z,1755760627.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446755 target range: 61.951908 and range: 62.30 m.
2025-08-21T07:17:07.603Z,1755760627.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.95 m.
2025-08-21T07:17:07.606Z,1755760627.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.951908 m,
      nav range: 60.136692 m,
      bearing: 13.656652 deg,
      approach rate: -0.655124 m/s,
      LOS rate: -0.024282 deg/s,
      cmd heading: 25.597203 deg,
      new cmd heading: 25.568868 deg.

2025-08-21T07:17:07.607Z,1755760627.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446261 target range: 61.951908 and range: 62.30 m.
2025-08-21T07:17:08.022Z,1755760628.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.95 m.
2025-08-21T07:17:08.028Z,1755760628.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.951908 m,
      nav range: 59.869251 m,
      bearing: 13.646678 deg,
      approach rate: -0.638907 m/s,
      LOS rate: -0.023934 deg/s,
      cmd heading: 25.568868 deg,
      new cmd heading: 25.538812 deg.

2025-08-21T07:17:08.029Z,1755760628.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445736 target range: 61.951908 and range: 62.30 m.
2025-08-21T07:17:08.410Z,1755760628.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:08.428Z,1755760628.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.95 m.
2025-08-21T07:17:08.431Z,1755760628.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.951908 m,
      nav range: 59.611160 m,
      bearing: 13.636930 deg,
      approach rate: -0.634990 m/s,
      LOS rate: -0.024087 deg/s,
      cmd heading: 25.538812 deg,
      new cmd heading: 25.509442 deg.

2025-08-21T07:17:08.436Z,1755760628.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445224 target range: 61.951908 and range: 62.30 m.
2025-08-21T07:17:08.572Z,1755760628.572 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:08.572Z,1755760628.572 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:08.572Z,1755760628.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:08.824Z,1755760628.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256357
2025-08-21T07:17:08.829Z,1755760628.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.95 m.
2025-08-21T07:17:08.836Z,1755760628.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.951908 m,
      nav range: 59.348274 m,
      bearing: 13.627021 deg,
      approach rate: -0.654846 m/s,
      LOS rate: -0.024794 deg/s,
      cmd heading: 25.509442 deg,
      new cmd heading: 25.479581 deg.

2025-08-21T07:17:08.840Z,1755760628.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444703 target range: 61.951908 and range: 62.30 m.
2025-08-21T07:17:09.076Z,1755760629.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508254
2025-08-21T07:17:09.220Z,1755760629.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.95 m.
2025-08-21T07:17:09.222Z,1755760629.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.951908 m,
      nav range: 59.085911 m,
      bearing: 13.617044 deg,
      approach rate: -0.672270 m/s,
      LOS rate: -0.025676 deg/s,
      cmd heading: 25.479580 deg,
      new cmd heading: 25.449519 deg.

2025-08-21T07:17:09.225Z,1755760629.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444178 target range: 61.951908 and range: 62.30 m.
2025-08-21T07:17:09.329Z,1755760629.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760799
2025-08-21T07:17:09.580Z,1755760629.580 [DAT](INFO): DAT read: Rx Time:07:17:08.4018

2025-08-21T07:17:09.581Z,1755760629.581 [DAT](INFO): Rx dataTimestamp_ set to:1755760629.580415
2025-08-21T07:17:09.581Z,1755760629.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013292
2025-08-21T07:17:09.672Z,1755760629.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.95 m.
2025-08-21T07:17:09.674Z,1755760629.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.951908 m,
      nav range: 58.817654 m,
      bearing: 13.606806 deg,
      approach rate: -0.593330 m/s,
      LOS rate: -0.022749 deg/s,
      cmd heading: 25.449519 deg,
      new cmd heading: 25.418663 deg.

2025-08-21T07:17:09.680Z,1755760629.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.443639 target range: 61.951908 and range: 62.30 m.
2025-08-21T07:17:09.832Z,1755760629.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264327
2025-08-21T07:17:10.053Z,1755760630.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.95 m.
2025-08-21T07:17:10.056Z,1755760630.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 61.951908 m,
      nav range: 58.544666 m,
      bearing: 13.596457 deg,
      approach rate: -0.716098 m/s,
      LOS rate: -0.027274 deg/s,
      cmd heading: 25.418663 deg,
      new cmd heading: 25.387471 deg.

2025-08-21T07:17:10.057Z,1755760630.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.443095 target range: 61.951908 and range: 62.30 m.
2025-08-21T07:17:10.087Z,1755760630.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518719
2025-08-21T07:17:10.344Z,1755760630.344 [DAT](INFO): DAT read: 07:17:08.4018 LVL= 27280, 32753, 23106, 32755, AGC= 65, IDX= 415, 0.06, 2.096, 0.570, 2.654, 2.115, PHS= 0.083,-1.500, 0.495, RAW= 161.3,  10.1, CAL= 161.3,  11.0, ROT= 348.7, -11.0

2025-08-21T07:17:10.345Z,1755760630.345 [DAT](INFO): got valid direction response:
 07:17:08.4018 LVL= 27280, 32753, 23106, 32755, AGC= 65, IDX= 415, 0.06, 2.096, 0.570, 2.654, 2.115, PHS= 0.083,-1.500, 0.495, RAW= 161.3,  10.1, CAL= 161.3,  11.0, ROT= 348.7, -11.0

2025-08-21T07:17:10.346Z,1755760630.346 [DAT](INFO): DAT read: Bearing 195.9, -10.2 (Local)

2025-08-21T07:17:10.346Z,1755760630.346 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.9, -10.2 (Local)

2025-08-21T07:17:10.347Z,1755760630.347 [DAT](INFO): DAT read: Range 11 to 50 : 59.9 m  (Round-trip  79.9 ms) speed  0.5 m/s

2025-08-21T07:17:10.348Z,1755760630.348 [DAT](INFO): DAT read: user:2163>

2025-08-21T07:17:10.349Z,1755760630.349 [DAT](INFO): DAT read: Tx time:07:17:09.5177

2025-08-21T07:17:10.349Z,1755760630.349 [DAT](INFO): Ping request sent.
2025-08-21T07:17:10.349Z,1755760630.349 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:10.350Z,1755760630.350 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:10.351Z,1755760630.351 [DAT](INFO): direction in FSK: [0.962598,-0.192346,0.190809]
2025-08-21T07:17:10.351Z,1755760630.351 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:10.355Z,1755760630.355 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:10.358Z,1755760630.358 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:10.358Z,1755760630.358 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:10.504Z,1755760630.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 59.900002 m,
      deltaT: 3.780290 s,
      deltaX: -2.399998 m,
      approachRate: -0.634871 m/s,
      rangeRepo size: 4

2025-08-21T07:17:10.516Z,1755760630.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 59.565617 m,
      bearing: 14.539985 deg,
      lat: 36.779386 deg,
      lon: -121.859388 deg,
      deltaT: 3.780290 s,
      deltaX: -2.386292 m,
      approachRate: -0.631246 m/s,
      posRepo size: 4

2025-08-21T07:17:10.517Z,1755760630.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.57 m.
2025-08-21T07:17:10.524Z,1755760630.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.90 m.
2025-08-21T07:17:10.533Z,1755760630.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.565617 m,
      nav range: 58.294540 m,
      bearing: 13.666951 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027274 deg/s,
      cmd heading: 25.387472 deg,
      new cmd heading: 25.350950 deg.

2025-08-21T07:17:10.539Z,1755760630.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442458 target range: 59.565617 and range: 59.90 m.
2025-08-21T07:17:10.565Z,1755760630.565 [DockingStepper](INFO): Changing to mode: 2
2025-08-21T07:17:10.910Z,1755760630.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:10.912Z,1755760630.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.57 m.
2025-08-21T07:17:10.913Z,1755760630.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.90 m.
2025-08-21T07:17:10.916Z,1755760630.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.565617 m,
      nav range: 58.004910 m,
      bearing: 13.656192 deg,
      approach rate: -0.701253 m/s,
      LOS rate: -0.026179 deg/s,
      cmd heading: 25.350951 deg,
      new cmd heading: 25.318513 deg.

2025-08-21T07:17:10.917Z,1755760630.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441891 target range: 59.565617 and range: 59.90 m.
2025-08-21T07:17:11.092Z,1755760631.092 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:11.092Z,1755760631.092 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:11.092Z,1755760631.092 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:11.299Z,1755760631.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.57 m.
2025-08-21T07:17:11.300Z,1755760631.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.90 m.
2025-08-21T07:17:11.303Z,1755760631.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.565617 m,
      nav range: 57.753334 m,
      bearing: 13.646622 deg,
      approach rate: -0.651173 m/s,
      LOS rate: -0.024880 deg/s,
      cmd heading: 25.318512 deg,
      new cmd heading: 25.289675 deg.

2025-08-21T07:17:11.304Z,1755760631.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441388 target range: 59.565617 and range: 59.90 m.
2025-08-21T07:17:11.345Z,1755760631.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995243
2025-08-21T07:17:11.596Z,1755760631.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246994
2025-08-21T07:17:11.707Z,1755760631.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.57 m.
2025-08-21T07:17:11.728Z,1755760631.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.90 m.
2025-08-21T07:17:11.730Z,1755760631.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.565617 m,
      nav range: 57.488003 m,
      bearing: 13.636269 deg,
      approach rate: -0.650135 m/s,
      LOS rate: -0.025484 deg/s,
      cmd heading: 25.289675 deg,
      new cmd heading: 25.258473 deg.

2025-08-21T07:17:11.736Z,1755760631.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440844 target range: 59.565617 and range: 59.90 m.
2025-08-21T07:17:11.849Z,1755760631.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499267
2025-08-21T07:17:12.100Z,1755760632.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750911
2025-08-21T07:17:12.192Z,1755760632.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.57 m.
2025-08-21T07:17:12.192Z,1755760632.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.90 m.
2025-08-21T07:17:12.195Z,1755760632.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.565617 m,
      nav range: 57.173313 m,
      bearing: 13.623610 deg,
      approach rate: -0.649671 m/s,
      LOS rate: -0.026278 deg/s,
      cmd heading: 25.258473 deg,
      new cmd heading: 25.220287 deg.

2025-08-21T07:17:12.196Z,1755760632.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440177 target range: 59.565617 and range: 59.90 m.
2025-08-21T07:17:12.352Z,1755760632.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003004
2025-08-21T07:17:12.556Z,1755760632.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.57 m.
2025-08-21T07:17:12.556Z,1755760632.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.90 m.
2025-08-21T07:17:12.559Z,1755760632.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.565617 m,
      nav range: 56.945518 m,
      bearing: 13.614359 deg,
      approach rate: -0.625037 m/s,
      LOS rate: -0.025484 deg/s,
      cmd heading: 25.220287 deg,
      new cmd heading: 25.192424 deg.

2025-08-21T07:17:12.560Z,1755760632.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439691 target range: 59.565617 and range: 59.90 m.
2025-08-21T07:17:12.605Z,1755760632.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255614
2025-08-21T07:17:12.856Z,1755760632.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506815
2025-08-21T07:17:12.947Z,1755760632.947 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:12.949Z,1755760632.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.57 m.
2025-08-21T07:17:12.950Z,1755760632.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.90 m.
2025-08-21T07:17:12.953Z,1755760632.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.565617 m,
      nav range: 56.680450 m,
      bearing: 13.603407 deg,
      approach rate: -0.673738 m/s,
      LOS rate: -0.027968 deg/s,
      cmd heading: 25.192424 deg,
      new cmd heading: 25.159414 deg.

2025-08-21T07:17:12.953Z,1755760632.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439115 target range: 59.565617 and range: 59.90 m.
2025-08-21T07:17:13.108Z,1755760633.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759022
2025-08-21T07:17:13.340Z,1755760633.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.57 m.
2025-08-21T07:17:13.340Z,1755760633.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.90 m.
2025-08-21T07:17:13.343Z,1755760633.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.565617 m,
      nav range: 56.426151 m,
      bearing: 13.592804 deg,
      approach rate: -0.651523 m/s,
      LOS rate: -0.027289 deg/s,
      cmd heading: 25.159413 deg,
      new cmd heading: 25.127459 deg.

2025-08-21T07:17:13.344Z,1755760633.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438557 target range: 59.565617 and range: 59.90 m.
2025-08-21T07:17:13.362Z,1755760633.362 [DAT](INFO): DAT read: Rx Time:07:17:11.9988

2025-08-21T07:17:13.363Z,1755760633.363 [DAT](INFO): Rx dataTimestamp_ set to:1755760633.362243
2025-08-21T07:17:13.363Z,1755760633.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013750
2025-08-21T07:17:13.612Z,1755760633.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262892
2025-08-21T07:17:13.762Z,1755760633.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.57 m.
2025-08-21T07:17:13.762Z,1755760633.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.90 m.
2025-08-21T07:17:13.765Z,1755760633.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 59.565617 m,
      nav range: 56.151909 m,
      bearing: 13.581517 deg,
      approach rate: -0.649700 m/s,
      LOS rate: -0.026869 deg/s,
      cmd heading: 25.127458 deg,
      new cmd heading: 25.093434 deg.

2025-08-21T07:17:13.766Z,1755760633.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437963 target range: 59.565617 and range: 59.90 m.
2025-08-21T07:17:13.870Z,1755760633.870 [DAT](INFO): DAT read: 07:17:11.9988 LVL= 25152, 31905, 24210, 32211, AGC= 60, IDX= 416, 0.09,-0.563,-2.083,-0.028,-0.532, PHS= 0.070,-1.506, 0.459, RAW= 160.8,  10.8, CAL= 160.9,  12.0, ROT= 349.1, -12.0

2025-08-21T07:17:13.872Z,1755760633.872 [DAT](INFO): got valid direction response:
 07:17:11.9988 LVL= 25152, 31905, 24210, 32211, AGC= 60, IDX= 416, 0.09,-0.563,-2.083,-0.028,-0.532, PHS= 0.070,-1.506, 0.459, RAW= 160.8,  10.8, CAL= 160.9,  12.0, ROT= 349.1, -12.0

2025-08-21T07:17:13.872Z,1755760633.872 [DAT](INFO): DAT read: Bearing 196.8,  -9.2 (Local)

2025-08-21T07:17:13.873Z,1755760633.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.8,  -9.2 (Local)

2025-08-21T07:17:13.874Z,1755760633.874 [DAT](INFO): DAT read: Range 11 to 50 : 57.6 m  (Round-trip  76.9 ms) speed  0.5 m/s

2025-08-21T07:17:13.875Z,1755760633.875 [DAT](INFO): DAT read: user:2164>

2025-08-21T07:17:13.876Z,1755760633.876 [DAT](INFO): DAT read: Tx time:07:17:13.1177

2025-08-21T07:17:13.876Z,1755760633.876 [DAT](INFO): Ping request sent.
2025-08-21T07:17:13.876Z,1755760633.876 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:13.876Z,1755760633.876 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:13.877Z,1755760633.877 [DAT](INFO): direction in FSK: [0.960501,-0.184963,0.207912]
2025-08-21T07:17:13.878Z,1755760633.878 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:13.878Z,1755760633.878 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:13.885Z,1755760633.885 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:13.886Z,1755760633.886 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:14.171Z,1755760634.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 57.599998 m,
      deltaT: 3.527856 s,
      deltaX: -2.300003 m,
      approachRate: -0.651955 m/s,
      rangeRepo size: 4

2025-08-21T07:17:14.174Z,1755760634.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 57.279106 m,
      bearing: 14.937370 deg,
      lat: 36.779386 deg,
      lon: -121.859385 deg,
      deltaT: 3.527856 s,
      deltaX: -2.286510 m,
      approachRate: -0.648130 m/s,
      posRepo size: 4

2025-08-21T07:17:14.176Z,1755760634.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.28 m.
2025-08-21T07:17:14.176Z,1755760634.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-21T07:17:14.180Z,1755760634.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.279106 m,
      nav range: 55.951454 m,
      bearing: 13.867197 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.026869 deg/s,
      cmd heading: 25.093434 deg,
      new cmd heading: 25.060529 deg.

2025-08-21T07:17:14.181Z,1755760634.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437389 target range: 57.279106 and range: 57.60 m.
2025-08-21T07:17:14.552Z,1755760634.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.28 m.
2025-08-21T07:17:14.552Z,1755760634.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-21T07:17:14.555Z,1755760634.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.279106 m,
      nav range: 55.692200 m,
      bearing: 13.858076 deg,
      approach rate: -0.679580 m/s,
      LOS rate: -0.024020 deg/s,
      cmd heading: 25.060529 deg,
      new cmd heading: 25.033039 deg.

2025-08-21T07:17:14.556Z,1755760634.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436909 target range: 57.279106 and range: 57.60 m.
2025-08-21T07:17:14.957Z,1755760634.957 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:14.959Z,1755760634.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.28 m.
2025-08-21T07:17:14.960Z,1755760634.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-21T07:17:14.963Z,1755760634.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.279106 m,
      nav range: 55.427170 m,
      bearing: 13.848663 deg,
      approach rate: -0.649817 m/s,
      LOS rate: -0.023188 deg/s,
      cmd heading: 25.033039 deg,
      new cmd heading: 25.004667 deg.

2025-08-21T07:17:14.964Z,1755760634.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436414 target range: 57.279106 and range: 57.60 m.
2025-08-21T07:17:15.124Z,1755760635.124 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:15.124Z,1755760635.124 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:15.124Z,1755760635.124 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:15.365Z,1755760635.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.28 m.
2025-08-21T07:17:15.366Z,1755760635.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-21T07:17:15.373Z,1755760635.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.279106 m,
      nav range: 55.173138 m,
      bearing: 13.839606 deg,
      approach rate: -0.625285 m/s,
      LOS rate: -0.022397 deg/s,
      cmd heading: 25.004667 deg,
      new cmd heading: 24.977369 deg.

2025-08-21T07:17:15.374Z,1755760635.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435937 target range: 57.279106 and range: 57.60 m.
2025-08-21T07:17:15.376Z,1755760635.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500203
2025-08-21T07:17:15.629Z,1755760635.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753260
2025-08-21T07:17:15.758Z,1755760635.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.28 m.
2025-08-21T07:17:15.758Z,1755760635.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-21T07:17:15.761Z,1755760635.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.279106 m,
      nav range: 54.907433 m,
      bearing: 13.830130 deg,
      approach rate: -0.676937 m/s,
      LOS rate: -0.024259 deg/s,
      cmd heading: 24.977370 deg,
      new cmd heading: 24.948805 deg.

2025-08-21T07:17:15.762Z,1755760635.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435439 target range: 57.279106 and range: 57.60 m.
2025-08-21T07:17:15.880Z,1755760635.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003979
2025-08-21T07:17:16.132Z,1755760636.132 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256210
2025-08-21T07:17:16.167Z,1755760636.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.28 m.
2025-08-21T07:17:16.192Z,1755760636.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-21T07:17:16.194Z,1755760636.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.279106 m,
      nav range: 54.644447 m,
      bearing: 13.820913 deg,
      approach rate: -0.643520 m/s,
      LOS rate: -0.022663 deg/s,
      cmd heading: 24.948804 deg,
      new cmd heading: 24.921020 deg.

2025-08-21T07:17:16.199Z,1755760636.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434954 target range: 57.279106 and range: 57.60 m.
2025-08-21T07:17:16.384Z,1755760636.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507943
2025-08-21T07:17:16.608Z,1755760636.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.28 m.
2025-08-21T07:17:16.609Z,1755760636.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.60 m.
2025-08-21T07:17:16.609Z,1755760636.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.60 m.
2025-08-21T07:17:16.609Z,1755760636.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-21T07:17:16.612Z,1755760636.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.279106 m,
      nav range: 54.369762 m,
      bearing: 13.811549 deg,
      approach rate: -0.622061 m/s,
      LOS rate: -0.021312 deg/s,
      cmd heading: 24.921019 deg,
      new cmd heading: 24.892787 deg.

2025-08-21T07:17:16.613Z,1755760636.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434461 target range: 57.279106 and range: 57.60 m.
2025-08-21T07:17:16.636Z,1755760636.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760111
2025-08-21T07:17:16.888Z,1755760636.888 [DAT](INFO): DAT read: Rx Time:07:17:15.5958

2025-08-21T07:17:16.889Z,1755760636.889 [DAT](INFO): Rx dataTimestamp_ set to:1755760636.888500
2025-08-21T07:17:16.889Z,1755760636.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013157
2025-08-21T07:17:16.988Z,1755760636.988 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:16.997Z,1755760636.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.28 m.
2025-08-21T07:17:17.006Z,1755760637.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.279106 m,
      nav range: 54.109215 m,
      bearing: 13.802785 deg,
      approach rate: -0.670488 m/s,
      LOS rate: -0.022662 deg/s,
      cmd heading: 24.892787 deg,
      new cmd heading: 24.866368 deg.

2025-08-21T07:17:17.012Z,1755760637.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434000 target range: 57.279106 and range: 57.60 m.
2025-08-21T07:17:17.141Z,1755760637.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264413
2025-08-21T07:17:17.371Z,1755760637.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.28 m.
2025-08-21T07:17:17.374Z,1755760637.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 57.279106 m,
      nav range: 53.858704 m,
      bearing: 13.794513 deg,
      approach rate: -0.669900 m/s,
      LOS rate: -0.022223 deg/s,
      cmd heading: 24.866367 deg,
      new cmd heading: 24.841436 deg.

2025-08-21T07:17:17.374Z,1755760637.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433565 target range: 57.279106 and range: 57.60 m.
2025-08-21T07:17:17.398Z,1755760637.398 [DAT](INFO): DAT read: 07:17:15.5958 LVL= 30784, 32753, 26722, 32755, AGC= 65, IDX= 418, 0.07, 2.107, 0.589, 2.624, 2.130, PHS= 0.079,-1.496, 0.450, RAW= 160.3,  10.8, CAL= 160.4,  11.9, ROT= 349.6, -11.9

2025-08-21T07:17:17.399Z,1755760637.399 [DAT](INFO): got valid direction response:
 07:17:15.5958 LVL= 30784, 32753, 26722, 32755, AGC= 65, IDX= 418, 0.07, 2.107, 0.589, 2.624, 2.130, PHS= 0.079,-1.496, 0.450, RAW= 160.3,  10.8, CAL= 160.4,  11.9, ROT= 349.6, -11.9

2025-08-21T07:17:17.400Z,1755760637.400 [DAT](INFO): DAT read: Bearing 196.6,  -8.5 (Local)

2025-08-21T07:17:17.401Z,1755760637.401 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.6,  -8.5 (Local)

2025-08-21T07:17:17.402Z,1755760637.402 [DAT](INFO): DAT read: Range 11 to 50 : 55.5 m  (Round-trip  74.0 ms) speed  0.5 m/s

2025-08-21T07:17:17.403Z,1755760637.403 [DAT](INFO): DAT read: user:2165>

2025-08-21T07:17:17.404Z,1755760637.404 [DAT](INFO): DAT read: Tx time:07:17:16.7177

2025-08-21T07:17:17.404Z,1755760637.404 [DAT](INFO): Ping request sent.
2025-08-21T07:17:17.404Z,1755760637.404 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:17.404Z,1755760637.404 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:17.405Z,1755760637.405 [DAT](INFO): direction in FSK: [0.962434,-0.176639,0.206204]
2025-08-21T07:17:17.406Z,1755760637.406 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:17.406Z,1755760637.406 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:17.409Z,1755760637.409 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:17.409Z,1755760637.409 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:17.827Z,1755760637.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.500000 m,
      deltaT: 3.527912 s,
      deltaX: -2.099998 m,
      approachRate: -0.595253 m/s,
      rangeRepo size: 4

2025-08-21T07:17:17.829Z,1755760637.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.191364 m,
      bearing: 15.169477 deg,
      lat: 36.779386 deg,
      lon: -121.859378 deg,
      deltaT: 3.527912 s,
      deltaX: -2.087742 m,
      approachRate: -0.591778 m/s,
      posRepo size: 4

2025-08-21T07:17:17.830Z,1755760637.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.19 m.
2025-08-21T07:17:17.832Z,1755760637.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.191364 m,
      nav range: 53.709450 m,
      bearing: 14.421101 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022223 deg/s,
      cmd heading: 24.841436 deg,
      new cmd heading: 24.811071 deg.

2025-08-21T07:17:17.833Z,1755760637.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433035 target range: 55.191364 and range: 55.50 m.
2025-08-21T07:17:18.185Z,1755760638.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.19 m.
2025-08-21T07:17:18.208Z,1755760638.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.191364 m,
      nav range: 53.468807 m,
      bearing: 14.411495 deg,
      approach rate: -0.671130 m/s,
      LOS rate: -0.026911 deg/s,
      cmd heading: 24.811072 deg,
      new cmd heading: 24.782124 deg.

2025-08-21T07:17:18.209Z,1755760638.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432530 target range: 55.191364 and range: 55.50 m.
2025-08-21T07:17:18.612Z,1755760638.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.19 m.
2025-08-21T07:17:18.620Z,1755760638.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.191364 m,
      nav range: 53.200825 m,
      bearing: 14.400400 deg,
      approach rate: -0.634415 m/s,
      LOS rate: -0.026397 deg/s,
      cmd heading: 24.782124 deg,
      new cmd heading: 24.748673 deg.

2025-08-21T07:17:18.621Z,1755760638.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431946 target range: 55.191364 and range: 55.50 m.
2025-08-21T07:17:19.016Z,1755760639.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:19.018Z,1755760639.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.19 m.
2025-08-21T07:17:19.038Z,1755760639.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.191364 m,
      nav range: 52.923195 m,
      bearing: 14.394657 deg,
      approach rate: -0.674922 m/s,
      LOS rate: -0.014035 deg/s,
      cmd heading: 24.748673 deg,
      new cmd heading: 24.731354 deg.

2025-08-21T07:17:19.038Z,1755760639.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431644 target range: 55.191364 and range: 55.50 m.
2025-08-21T07:17:19.157Z,1755760639.157 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:19.157Z,1755760639.157 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:19.157Z,1755760639.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:19.383Z,1755760639.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.19 m.
2025-08-21T07:17:19.386Z,1755760639.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.191364 m,
      nav range: 52.682430 m,
      bearing: 14.389450 deg,
      approach rate: -0.660255 m/s,
      LOS rate: -0.014346 deg/s,
      cmd heading: 24.731353 deg,
      new cmd heading: 24.715659 deg.

2025-08-21T07:17:19.387Z,1755760639.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431370 target range: 55.191364 and range: 55.50 m.
2025-08-21T07:17:19.408Z,1755760639.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004357
2025-08-21T07:17:19.660Z,1755760639.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256211
2025-08-21T07:17:19.852Z,1755760639.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.19 m.
2025-08-21T07:17:19.854Z,1755760639.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.191364 m,
      nav range: 52.390594 m,
      bearing: 14.373803 deg,
      approach rate: -0.623159 m/s,
      LOS rate: -0.033597 deg/s,
      cmd heading: 24.715659 deg,
      new cmd heading: 24.668457 deg.

2025-08-21T07:17:19.856Z,1755760639.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430546 target range: 55.191364 and range: 55.50 m.
2025-08-21T07:17:19.913Z,1755760639.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509255
2025-08-21T07:17:20.165Z,1755760640.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760818
2025-08-21T07:17:20.197Z,1755760640.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.19 m.
2025-08-21T07:17:20.200Z,1755760640.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.191364 m,
      nav range: 52.175407 m,
      bearing: 14.361975 deg,
      approach rate: -0.623259 m/s,
      LOS rate: -0.034399 deg/s,
      cmd heading: 24.668458 deg,
      new cmd heading: 24.632828 deg.

2025-08-21T07:17:20.201Z,1755760640.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429924 target range: 55.191364 and range: 55.50 m.
2025-08-21T07:17:20.417Z,1755760640.417 [DAT](INFO): DAT read: Rx Time:07:17:19.1928

2025-08-21T07:17:20.418Z,1755760640.418 [DAT](INFO): Rx dataTimestamp_ set to:1755760640.417237
2025-08-21T07:17:20.418Z,1755760640.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014403
2025-08-21T07:17:20.588Z,1755760640.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.19 m.
2025-08-21T07:17:20.591Z,1755760640.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.191364 m,
      nav range: 51.932030 m,
      bearing: 14.348100 deg,
      approach rate: -0.622887 m/s,
      LOS rate: -0.035678 deg/s,
      cmd heading: 24.632828 deg,
      new cmd heading: 24.591007 deg.

2025-08-21T07:17:20.592Z,1755760640.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429194 target range: 55.191364 and range: 55.50 m.
2025-08-21T07:17:20.669Z,1755760640.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265255
2025-08-21T07:17:20.933Z,1755760640.933 [DAT](INFO): DAT read: 07:17:19.1928 LVL= 28736, 32753, 23266, 32755, AGC= 64, IDX= 403, 0.12,-2.725, 2.063,-2.184,-2.690, PHS= 0.068,-1.484, 0.462, RAW= 161.0,  10.7, CAL= 161.1,  11.8, ROT= 348.9, -11.8

2025-08-21T07:17:20.934Z,1755760640.934 [DAT](INFO): got valid direction response:
 07:17:19.1928 LVL= 28736, 32753, 23266, 32755, AGC= 64, IDX= 403, 0.12,-2.725, 2.063,-2.184,-2.690, PHS= 0.068,-1.484, 0.462, RAW= 161.0,  10.7, CAL= 161.1,  11.8, ROT= 348.9, -11.8

2025-08-21T07:17:20.935Z,1755760640.935 [DAT](INFO): DAT read: Bearing 196.9,  -8.9 (Local)

2025-08-21T07:17:20.935Z,1755760640.935 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.9,  -8.9 (Local)

2025-08-21T07:17:20.937Z,1755760640.937 [DAT](INFO): DAT read: Range 11 to 50 : 53.1 m  (Round-trip  70.9 ms) speed  0.6 m/s

2025-08-21T07:17:20.938Z,1755760640.938 [DAT](INFO): DAT read: user:2166>

2025-08-21T07:17:20.938Z,1755760640.938 [DAT](INFO): DAT read: Tx time:07:17:20.3177

2025-08-21T07:17:20.939Z,1755760640.939 [DAT](INFO): Ping request sent.
2025-08-21T07:17:20.939Z,1755760640.939 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:20.939Z,1755760640.939 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:20.940Z,1755760640.940 [DAT](INFO): direction in FSK: [0.960555,-0.188454,0.204496]
2025-08-21T07:17:20.940Z,1755760640.940 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:20.941Z,1755760640.941 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:20.952Z,1755760640.952 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:20.952Z,1755760640.952 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:21.097Z,1755760641.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 53.099998 m,
      deltaT: 3.529583 s,
      deltaX: -2.400002 m,
      approachRate: -0.679967 m/s,
      rangeRepo size: 4

2025-08-21T07:17:21.099Z,1755760641.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.804169 m,
      bearing: 14.869817 deg,
      lat: 36.779386 deg,
      lon: -121.859373 deg,
      deltaT: 3.529583 s,
      deltaX: -2.387196 m,
      approachRate: -0.676339 m/s,
      posRepo size: 4

2025-08-21T07:17:21.104Z,1755760641.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-21T07:17:21.107Z,1755760641.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.804169 m,
      nav range: 51.684711 m,
      bearing: 14.774686 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035678 deg/s,
      cmd heading: 24.591007 deg,
      new cmd heading: 24.536555 deg.

2025-08-21T07:17:21.124Z,1755760641.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428244 target range: 52.804169 and range: 53.10 m.
2025-08-21T07:17:21.397Z,1755760641.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:21.399Z,1755760641.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-21T07:17:21.402Z,1755760641.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.804169 m,
      nav range: 51.490700 m,
      bearing: 14.768786 deg,
      approach rate: -0.640664 m/s,
      LOS rate: -0.019556 deg/s,
      cmd heading: 24.536555 deg,
      new cmd heading: 24.518788 deg.

2025-08-21T07:17:21.403Z,1755760641.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427934 target range: 52.804169 and range: 53.10 m.
2025-08-21T07:17:21.424Z,1755760641.424 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:21.424Z,1755760641.424 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:21.424Z,1755760641.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:21.676Z,1755760641.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.737474
2025-08-21T07:17:21.850Z,1755760641.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-21T07:17:21.853Z,1755760641.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.804169 m,
      nav range: 51.212051 m,
      bearing: 14.760075 deg,
      approach rate: -0.617174 m/s,
      LOS rate: -0.019398 deg/s,
      cmd heading: 24.518788 deg,
      new cmd heading: 24.492513 deg.

2025-08-21T07:17:21.854Z,1755760641.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427475 target range: 52.804169 and range: 53.10 m.
2025-08-21T07:17:21.928Z,1755760641.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989731
2025-08-21T07:17:22.180Z,1755760642.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241696
2025-08-21T07:17:22.237Z,1755760642.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-21T07:17:22.240Z,1755760642.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.804169 m,
      nav range: 50.980907 m,
      bearing: 14.759683 deg,
      approach rate: -0.597608 m/s,
      LOS rate: -0.001019 deg/s,
      cmd heading: 24.492514 deg,
      new cmd heading: 24.491332 deg.

2025-08-21T07:17:22.241Z,1755760642.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427454 target range: 52.804169 and range: 53.10 m.
2025-08-21T07:17:22.432Z,1755760642.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493420
2025-08-21T07:17:22.610Z,1755760642.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-21T07:17:22.613Z,1755760642.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.804169 m,
      nav range: 50.758213 m,
      bearing: 14.759320 deg,
      approach rate: -0.597675 m/s,
      LOS rate: -0.000978 deg/s,
      cmd heading: 24.491332 deg,
      new cmd heading: 24.490239 deg.

2025-08-21T07:17:22.614Z,1755760642.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427435 target range: 52.804169 and range: 53.10 m.
2025-08-21T07:17:22.686Z,1755760642.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747554
2025-08-21T07:17:22.936Z,1755760642.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997747
2025-08-21T07:17:23.051Z,1755760643.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-21T07:17:23.054Z,1755760643.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.804169 m,
      nav range: 50.493629 m,
      bearing: 14.763647 deg,
      approach rate: -0.599980 m/s,
      LOS rate: 0.009863 deg/s,
      cmd heading: 24.490239 deg,
      new cmd heading: 24.503288 deg.

2025-08-21T07:17:23.055Z,1755760643.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427663 target range: 52.804169 and range: 53.10 m.
2025-08-21T07:17:23.188Z,1755760643.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249443
2025-08-21T07:17:23.416Z,1755760643.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:23.418Z,1755760643.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-21T07:17:23.421Z,1755760643.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.804169 m,
      nav range: 50.273720 m,
      bearing: 14.767314 deg,
      approach rate: -0.599389 m/s,
      LOS rate: 0.010038 deg/s,
      cmd heading: 24.503288 deg,
      new cmd heading: 24.514337 deg.

2025-08-21T07:17:23.422Z,1755760643.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427856 target range: 52.804169 and range: 53.10 m.
2025-08-21T07:17:23.441Z,1755760643.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501810
2025-08-21T07:17:23.692Z,1755760643.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753545
2025-08-21T07:17:23.880Z,1755760643.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-21T07:17:23.883Z,1755760643.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.804169 m,
      nav range: 50.000954 m,
      bearing: 14.771917 deg,
      approach rate: -0.589840 m/s,
      LOS rate: 0.010009 deg/s,
      cmd heading: 24.514336 deg,
      new cmd heading: 24.528222 deg.

2025-08-21T07:17:23.888Z,1755760643.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428098 target range: 52.804169 and range: 53.10 m.
2025-08-21T07:17:23.945Z,1755760643.945 [DAT](INFO): DAT read: Rx Time:07:17:22.7898

2025-08-21T07:17:23.946Z,1755760643.946 [DAT](INFO): Rx dataTimestamp_ set to:1755760643.945320
2025-08-21T07:17:23.947Z,1755760643.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007772
2025-08-21T07:17:24.196Z,1755760644.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257579
2025-08-21T07:17:24.251Z,1755760644.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-21T07:17:24.254Z,1755760644.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.804169 m,
      nav range: 49.785713 m,
      bearing: 14.780263 deg,
      approach rate: -0.580849 m/s,
      LOS rate: 0.022621 deg/s,
      cmd heading: 24.528222 deg,
      new cmd heading: 24.553369 deg.

2025-08-21T07:17:24.255Z,1755760644.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428537 target range: 52.804169 and range: 53.10 m.
2025-08-21T07:17:24.452Z,1755760644.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512314
2025-08-21T07:17:24.660Z,1755760644.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-21T07:17:24.665Z,1755760644.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.804169 m,
      nav range: 49.567345 m,
      bearing: 14.788779 deg,
      approach rate: -0.538701 m/s,
      LOS rate: 0.021100 deg/s,
      cmd heading: 24.553369 deg,
      new cmd heading: 24.579028 deg.

2025-08-21T07:17:24.666Z,1755760644.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428985 target range: 52.804169 and range: 53.10 m.
2025-08-21T07:17:24.706Z,1755760644.706 [DAT](INFO): DAT read: 07:17:22.7898 LVL= 28192, 32753, 22322, 32755, AGC= 62, IDX= 404,-0.13,-2.895, 1.874,-2.341,-2.878, PHS= 0.085,-1.486, 0.493, RAW= 161.3,  10.1, CAL= 161.2,  10.9, ROT= 348.8, -10.9

2025-08-21T07:17:24.708Z,1755760644.708 [DAT](INFO): got valid direction response:
 07:17:22.7898 LVL= 28192, 32753, 22322, 32755, AGC= 62, IDX= 404,-0.13,-2.895, 1.874,-2.341,-2.878, PHS= 0.085,-1.486, 0.493, RAW= 161.3,  10.1, CAL= 161.2,  10.9, ROT= 348.8, -10.9

2025-08-21T07:17:24.708Z,1755760644.708 [DAT](INFO): DAT read: Bearing 196.3,  -8.8 (Local)

2025-08-21T07:17:24.709Z,1755760644.709 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.3,  -8.8 (Local)

2025-08-21T07:17:24.710Z,1755760644.710 [DAT](INFO): DAT read: Range 11 to 50 : 50.9 m  (Round-trip  67.9 ms) speed  0.5 m/s

2025-08-21T07:17:24.711Z,1755760644.711 [DAT](INFO): DAT read: user:2167>

2025-08-21T07:17:24.712Z,1755760644.712 [DAT](INFO): DAT read: Tx time:07:17:23.9177

2025-08-21T07:17:24.712Z,1755760644.712 [DAT](INFO): Ping request sent.
2025-08-21T07:17:24.712Z,1755760644.712 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:24.713Z,1755760644.713 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:24.714Z,1755760644.714 [DAT](INFO): direction in FSK: [0.963257,-0.190731,0.189095]
2025-08-21T07:17:24.714Z,1755760644.714 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:24.714Z,1755760644.714 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:24.717Z,1755760644.717 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:24.718Z,1755760644.718 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:25.072Z,1755760645.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.900002 m,
      deltaT: 3.778566 s,
      deltaX: -2.199997 m,
      approachRate: -0.582231 m/s,
      rangeRepo size: 4

2025-08-21T07:17:25.074Z,1755760645.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.616146 m,
      bearing: 14.983280 deg,
      lat: 36.779386 deg,
      lon: -121.859373 deg,
      deltaT: 3.778566 s,
      deltaX: -2.188023 m,
      approachRate: -0.579062 m/s,
      posRepo size: 4

2025-08-21T07:17:25.075Z,1755760645.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.62 m.
2025-08-21T07:17:25.077Z,1755760645.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.616146 m,
      nav range: 49.330711 m,
      bearing: 14.838631 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021100 deg/s,
      cmd heading: 24.579028 deg,
      new cmd heading: 24.605297 deg.

2025-08-21T07:17:25.078Z,1755760645.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429443 target range: 50.616146 and range: 50.90 m.
2025-08-21T07:17:25.434Z,1755760645.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:25.436Z,1755760645.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.62 m.
2025-08-21T07:17:25.439Z,1755760645.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.616146 m,
      nav range: 49.125648 m,
      bearing: 14.853945 deg,
      approach rate: -0.561559 m/s,
      LOS rate: 0.042111 deg/s,
      cmd heading: 24.605297 deg,
      new cmd heading: 24.651430 deg.

2025-08-21T07:17:25.440Z,1755760645.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430249 target range: 50.616146 and range: 50.90 m.
2025-08-21T07:17:25.458Z,1755760645.458 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:25.458Z,1755760645.458 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:25.458Z,1755760645.458 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:25.708Z,1755760645.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995929
2025-08-21T07:17:25.905Z,1755760645.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.62 m.
2025-08-21T07:17:25.911Z,1755760645.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.616146 m,
      nav range: 48.881065 m,
      bearing: 14.872506 deg,
      approach rate: -0.522321 m/s,
      LOS rate: 0.039836 deg/s,
      cmd heading: 24.651430 deg,
      new cmd heading: 24.707391 deg.

2025-08-21T07:17:25.912Z,1755760645.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431225 target range: 50.616146 and range: 50.90 m.
2025-08-21T07:17:25.961Z,1755760645.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248332
2025-08-21T07:17:26.213Z,1755760646.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500376
2025-08-21T07:17:26.284Z,1755760646.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.62 m.
2025-08-21T07:17:26.287Z,1755760646.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.616146 m,
      nav range: 48.651554 m,
      bearing: 14.889994 deg,
      approach rate: -0.605065 m/s,
      LOS rate: 0.046322 deg/s,
      cmd heading: 24.707391 deg,
      new cmd heading: 24.760103 deg.

2025-08-21T07:17:26.288Z,1755760646.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432145 target range: 50.616146 and range: 50.90 m.
2025-08-21T07:17:26.466Z,1755760646.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753229
2025-08-21T07:17:26.654Z,1755760646.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.62 m.
2025-08-21T07:17:26.657Z,1755760646.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.616146 m,
      nav range: 48.442272 m,
      bearing: 14.906008 deg,
      approach rate: -0.564650 m/s,
      LOS rate: 0.043395 deg/s,
      cmd heading: 24.760103 deg,
      new cmd heading: 24.808355 deg.

2025-08-21T07:17:26.658Z,1755760646.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432987 target range: 50.616146 and range: 50.90 m.
2025-08-21T07:17:26.716Z,1755760646.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004200
2025-08-21T07:17:26.969Z,1755760646.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256036
2025-08-21T07:17:27.086Z,1755760647.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.62 m.
2025-08-21T07:17:27.088Z,1755760647.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.616146 m,
      nav range: 48.201958 m,
      bearing: 14.927121 deg,
      approach rate: -0.557566 m/s,
      LOS rate: 0.049228 deg/s,
      cmd heading: 24.808355 deg,
      new cmd heading: 24.872008 deg.

2025-08-21T07:17:27.089Z,1755760647.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434098 target range: 50.616146 and range: 50.90 m.
2025-08-21T07:17:27.222Z,1755760647.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509328
2025-08-21T07:17:27.473Z,1755760647.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761029
2025-08-21T07:17:27.513Z,1755760647.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:27.515Z,1755760647.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.62 m.
2025-08-21T07:17:27.517Z,1755760647.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.616146 m,
      nav range: 47.974640 m,
      bearing: 14.947315 deg,
      approach rate: -0.529720 m/s,
      LOS rate: 0.047281 deg/s,
      cmd heading: 24.872009 deg,
      new cmd heading: 24.932878 deg.

2025-08-21T07:17:27.518Z,1755760647.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435161 target range: 50.616146 and range: 50.90 m.
2025-08-21T07:17:27.725Z,1755760647.725 [DAT](INFO): DAT read: Rx Time:07:17:26.3870

2025-08-21T07:17:27.725Z,1755760647.725 [DAT](INFO): Rx dataTimestamp_ set to:1755760647.724752
2025-08-21T07:17:27.726Z,1755760647.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013326
2025-08-21T07:17:27.934Z,1755760647.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.62 m.
2025-08-21T07:17:27.941Z,1755760647.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.616146 m,
      nav range: 47.742001 m,
      bearing: 14.968095 deg,
      approach rate: -0.555253 m/s,
      LOS rate: 0.049839 deg/s,
      cmd heading: 24.932878 deg,
      new cmd heading: 24.995523 deg.

2025-08-21T07:17:27.942Z,1755760647.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436254 target range: 50.616146 and range: 50.90 m.
2025-08-21T07:17:27.977Z,1755760647.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264912
2025-08-21T07:17:28.234Z,1755760648.234 [DAT](INFO): DAT read: 07:17:26.3870 LVL= 28032, 32753, 26226, 32755, AGC= 61, IDX= 407, 0.00, 2.957, 1.491,-2.779, 2.997, PHS= 0.062,-1.462, 0.463, RAW= 161.4,  10.7, CAL= 161.5,  11.8, ROT= 348.5, -11.8

2025-08-21T07:17:28.239Z,1755760648.239 [DAT](INFO): got valid direction response:
 07:17:26.3870 LVL= 28032, 32753, 26226, 32755, AGC= 61, IDX= 407, 0.00, 2.957, 1.491,-2.779, 2.997, PHS= 0.062,-1.462, 0.463, RAW= 161.4,  10.7, CAL= 161.5,  11.8, ROT= 348.5, -11.8

2025-08-21T07:17:28.240Z,1755760648.240 [DAT](INFO): DAT read: Bearing 197.2,  -8.6 (Local)

2025-08-21T07:17:28.240Z,1755760648.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.2,  -8.6 (Local)

2025-08-21T07:17:28.242Z,1755760648.242 [DAT](INFO): DAT read: Range 11 to 50 : 48.8 m  (Round-trip  65.1 ms) speed  0.4 m/s

2025-08-21T07:17:28.242Z,1755760648.242 [DAT](INFO): DAT read: user:2168>

2025-08-21T07:17:28.244Z,1755760648.244 [DAT](INFO): DAT read: Tx time:07:17:27.5177

2025-08-21T07:17:28.244Z,1755760648.244 [DAT](INFO): Ping request sent.
2025-08-21T07:17:28.244Z,1755760648.244 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:28.244Z,1755760648.244 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:28.245Z,1755760648.245 [DAT](INFO): direction in FSK: [0.959216,-0.195155,0.204496]
2025-08-21T07:17:28.246Z,1755760648.246 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:28.246Z,1755760648.246 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:28.253Z,1755760648.253 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:28.253Z,1755760648.253 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:28.390Z,1755760648.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 48.799999 m,
      deltaT: 3.527823 s,
      deltaX: -2.100002 m,
      approachRate: -0.595269 m/s,
      rangeRepo size: 4

2025-08-21T07:17:28.397Z,1755760648.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 48.527321 m,
      bearing: 14.603566 deg,
      lat: 36.779384 deg,
      lon: -121.859373 deg,
      deltaT: 3.527823 s,
      deltaX: -2.088825 m,
      approachRate: -0.592100 m/s,
      posRepo size: 4

2025-08-21T07:17:28.398Z,1755760648.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.53 m.
2025-08-21T07:17:28.405Z,1755760648.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.527321 m,
      nav range: 47.302544 m,
      bearing: 15.041916 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.049839 deg/s,
      cmd heading: 24.995523 deg,
      new cmd heading: 25.063730 deg.

2025-08-21T07:17:28.406Z,1755760648.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437445 target range: 48.527321 and range: 48.80 m.
2025-08-21T07:17:28.687Z,1755760648.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.53 m.
2025-08-21T07:17:28.690Z,1755760648.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.527321 m,
      nav range: 47.120487 m,
      bearing: 15.054793 deg,
      approach rate: -0.612754 m/s,
      LOS rate: 0.043509 deg/s,
      cmd heading: 25.063729 deg,
      new cmd heading: 25.102511 deg.

2025-08-21T07:17:28.691Z,1755760648.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438121 target range: 48.527321 and range: 48.80 m.
2025-08-21T07:17:29.097Z,1755760649.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.53 m.
2025-08-21T07:17:29.116Z,1755760649.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.527321 m,
      nav range: 46.875103 m,
      bearing: 15.059579 deg,
      approach rate: -0.598431 m/s,
      LOS rate: 0.011732 deg/s,
      cmd heading: 25.102511 deg,
      new cmd heading: 25.116943 deg.

2025-08-21T07:17:29.117Z,1755760649.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438373 target range: 48.527321 and range: 48.80 m.
2025-08-21T07:17:29.497Z,1755760649.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.53 m.
2025-08-21T07:17:29.500Z,1755760649.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.527321 m,
      nav range: 46.636436 m,
      bearing: 15.064545 deg,
      approach rate: -0.596972 m/s,
      LOS rate: 0.012485 deg/s,
      cmd heading: 25.116943 deg,
      new cmd heading: 25.131918 deg.

2025-08-21T07:17:29.501Z,1755760649.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438635 target range: 48.527321 and range: 48.80 m.
2025-08-21T07:17:29.922Z,1755760649.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:29.938Z,1755760649.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.53 m.
2025-08-21T07:17:29.960Z,1755760649.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.527321 m,
      nav range: 46.403671 m,
      bearing: 15.069276 deg,
      approach rate: -0.529130 m/s,
      LOS rate: 0.010810 deg/s,
      cmd heading: 25.131918 deg,
      new cmd heading: 25.146184 deg.

2025-08-21T07:17:29.962Z,1755760649.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438884 target range: 48.527321 and range: 48.80 m.
2025-08-21T07:17:29.992Z,1755760649.992 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:29.992Z,1755760649.992 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:29.992Z,1755760649.992 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:30.245Z,1755760650.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000628
2025-08-21T07:17:30.348Z,1755760650.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.53 m.
2025-08-21T07:17:30.351Z,1755760650.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.527321 m,
      nav range: 46.135181 m,
      bearing: 15.073791 deg,
      approach rate: -0.652528 m/s,
      LOS rate: 0.011035 deg/s,
      cmd heading: 25.146185 deg,
      new cmd heading: 25.159807 deg.

2025-08-21T07:17:30.356Z,1755760650.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439121 target range: 48.527321 and range: 48.80 m.
2025-08-21T07:17:30.496Z,1755760650.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252143
2025-08-21T07:17:30.752Z,1755760650.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507723
2025-08-21T07:17:30.826Z,1755760650.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.53 m.
2025-08-21T07:17:30.829Z,1755760650.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.527321 m,
      nav range: 45.848988 m,
      bearing: 15.078565 deg,
      approach rate: -0.598793 m/s,
      LOS rate: 0.010051 deg/s,
      cmd heading: 25.159806 deg,
      new cmd heading: 25.174218 deg.

2025-08-21T07:17:30.830Z,1755760650.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439373 target range: 48.527321 and range: 48.80 m.
2025-08-21T07:17:31.000Z,1755760651.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756399
2025-08-21T07:17:31.249Z,1755760651.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.53 m.
2025-08-21T07:17:31.252Z,1755760651.252 [DAT](INFO): DAT read: Rx Time:07:17:29.9843

2025-08-21T07:17:31.253Z,1755760651.253 [DAT](INFO): Rx dataTimestamp_ set to:1755760651.252624
2025-08-21T07:17:31.253Z,1755760651.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009392
2025-08-21T07:17:31.254Z,1755760651.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.527321 m,
      nav range: 45.593872 m,
      bearing: 15.073513 deg,
      approach rate: -0.603637 m/s,
      LOS rate: -0.012021 deg/s,
      cmd heading: 25.174218 deg,
      new cmd heading: 25.158976 deg.

2025-08-21T07:17:31.255Z,1755760651.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439107 target range: 48.527321 and range: 48.80 m.
2025-08-21T07:17:31.504Z,1755760651.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260128
2025-08-21T07:17:31.727Z,1755760651.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.53 m.
2025-08-21T07:17:31.730Z,1755760651.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 48.527321 m,
      nav range: 45.305126 m,
      bearing: 15.067771 deg,
      approach rate: -0.603917 m/s,
      LOS rate: -0.012086 deg/s,
      cmd heading: 25.158976 deg,
      new cmd heading: 25.141641 deg.

2025-08-21T07:17:31.732Z,1755760651.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438804 target range: 48.527321 and range: 48.80 m.
2025-08-21T07:17:31.785Z,1755760651.785 [DAT](INFO): DAT read: 07:17:29.9843 LVL= 28144, 32753, 22562, 32755, AGC= 62, IDX= 412, 0.05, 1.142,-0.356, 1.701, 1.153, PHS= 0.091,-1.464, 0.504, RAW= 161.5,   9.7, CAL= 161.4,  10.4, ROT= 348.6, -10.4

2025-08-21T07:17:31.787Z,1755760651.787 [DAT](INFO): got valid direction response:
 07:17:29.9843 LVL= 28144, 32753, 22562, 32755, AGC= 62, IDX= 412, 0.05, 1.142,-0.356, 1.701, 1.153, PHS= 0.091,-1.464, 0.504, RAW= 161.5,   9.7, CAL= 161.4,  10.4, ROT= 348.6, -10.4

2025-08-21T07:17:31.788Z,1755760651.788 [DAT](INFO): DAT read: Bearing 196.1,  -8.3 (Local)

2025-08-21T07:17:31.789Z,1755760651.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.1,  -8.3 (Local)

2025-08-21T07:17:31.791Z,1755760651.791 [DAT](INFO): DAT read: Range 11 to 50 : 46.8 m  (Round-trip  62.5 ms) speed  0.6 m/s

2025-08-21T07:17:31.828Z,1755760651.828 [DAT](INFO): DAT read: user:2169>

2025-08-21T07:17:31.829Z,1755760651.829 [DAT](INFO): DAT read: Tx time:07:17:31.0677

2025-08-21T07:17:31.829Z,1755760651.829 [DAT](INFO): Ping request sent.
2025-08-21T07:17:31.829Z,1755760651.829 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:31.829Z,1755760651.829 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:31.830Z,1755760651.830 [DAT](INFO): direction in FSK: [0.964167,-0.194410,0.180519]
2025-08-21T07:17:31.831Z,1755760651.831 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:31.831Z,1755760651.831 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:31.842Z,1755760651.842 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:31.842Z,1755760651.842 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:32.131Z,1755760652.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 46.799999 m,
      deltaT: 3.548421 s,
      deltaX: -2.000000 m,
      approachRate: -0.563631 m/s,
      rangeRepo size: 4

2025-08-21T07:17:32.133Z,1755760652.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 46.538357 m,
      bearing: 14.802973 deg,
      lat: 36.779386 deg,
      lon: -121.859373 deg,
      deltaT: 3.548421 s,
      deltaX: -1.988964 m,
      approachRate: -0.560521 m/s,
      posRepo size: 4

2025-08-21T07:17:32.134Z,1755760652.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.54 m.
2025-08-21T07:17:32.137Z,1755760652.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.538357 m,
      nav range: 45.226105 m,
      bearing: 15.000789 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012086 deg/s,
      cmd heading: 25.141641 deg,
      new cmd heading: 25.127000 deg.

2025-08-21T07:17:32.138Z,1755760652.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438549 target range: 46.538357 and range: 46.80 m.
2025-08-21T07:17:32.505Z,1755760652.505 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:32.523Z,1755760652.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.54 m.
2025-08-21T07:17:32.526Z,1755760652.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.538357 m,
      nav range: 44.988506 m,
      bearing: 14.991889 deg,
      approach rate: -0.630961 m/s,
      LOS rate: -0.023759 deg/s,
      cmd heading: 25.127001 deg,
      new cmd heading: 25.100160 deg.

2025-08-21T07:17:32.532Z,1755760652.532 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:32.532Z,1755760652.532 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:32.533Z,1755760652.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:32.539Z,1755760652.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438080 target range: 46.538357 and range: 46.80 m.
2025-08-21T07:17:32.785Z,1755760652.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.956315
2025-08-21T07:17:32.993Z,1755760652.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.54 m.
2025-08-21T07:17:33.004Z,1755760653.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.538357 m,
      nav range: 44.709621 m,
      bearing: 14.981321 deg,
      approach rate: -0.574021 m/s,
      LOS rate: -0.021886 deg/s,
      cmd heading: 25.100160 deg,
      new cmd heading: 25.068260 deg.

2025-08-21T07:17:33.005Z,1755760653.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437524 target range: 46.538357 and range: 46.80 m.
2025-08-21T07:17:33.036Z,1755760653.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.207281
2025-08-21T07:17:33.289Z,1755760653.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.459511
2025-08-21T07:17:33.393Z,1755760653.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.54 m.
2025-08-21T07:17:33.396Z,1755760653.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.538357 m,
      nav range: 44.441231 m,
      bearing: 14.968485 deg,
      approach rate: -0.670301 m/s,
      LOS rate: -0.032253 deg/s,
      cmd heading: 25.068261 deg,
      new cmd heading: 25.029519 deg.

2025-08-21T07:17:33.397Z,1755760653.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436848 target range: 46.538357 and range: 46.80 m.
2025-08-21T07:17:33.540Z,1755760653.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.711296
2025-08-21T07:17:33.748Z,1755760653.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.54 m.
2025-08-21T07:17:33.751Z,1755760653.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.538357 m,
      nav range: 44.228336 m,
      bearing: 14.957459 deg,
      approach rate: -0.600163 m/s,
      LOS rate: -0.031233 deg/s,
      cmd heading: 25.029518 deg,
      new cmd heading: 24.996281 deg.

2025-08-21T07:17:33.752Z,1755760653.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436267 target range: 46.538357 and range: 46.80 m.
2025-08-21T07:17:33.793Z,1755760653.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.963951
2025-08-21T07:17:33.808Z,1755760653.808 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:17:34.044Z,1755760654.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.215264
2025-08-21T07:17:34.183Z,1755760654.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.54 m.
2025-08-21T07:17:34.186Z,1755760654.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.538357 m,
      nav range: 43.960865 m,
      bearing: 14.945595 deg,
      approach rate: -0.615237 m/s,
      LOS rate: -0.027454 deg/s,
      cmd heading: 24.996281 deg,
      new cmd heading: 24.960474 deg.

2025-08-21T07:17:34.187Z,1755760654.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435642 target range: 46.538357 and range: 46.80 m.
2025-08-21T07:17:34.296Z,1755760654.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.467246
2025-08-21T07:17:34.548Z,1755760654.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719290
2025-08-21T07:17:34.555Z,1755760654.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:34.557Z,1755760654.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.54 m.
2025-08-21T07:17:34.560Z,1755760654.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.538357 m,
      nav range: 43.732418 m,
      bearing: 14.935026 deg,
      approach rate: -0.610271 m/s,
      LOS rate: -0.028383 deg/s,
      cmd heading: 24.960474 deg,
      new cmd heading: 24.928599 deg.

2025-08-21T07:17:34.561Z,1755760654.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435086 target range: 46.538357 and range: 46.80 m.
2025-08-21T07:17:34.801Z,1755760654.801 [DAT](INFO): DAT read: Rx Time:07:17:33.5313

2025-08-21T07:17:34.801Z,1755760654.801 [DAT](INFO): Rx dataTimestamp_ set to:1755760654.800805
2025-08-21T07:17:34.802Z,1755760654.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.972930
2025-08-21T07:17:34.815Z,1755760654.815 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:17:35.032Z,1755760655.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.54 m.
2025-08-21T07:17:35.035Z,1755760655.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 46.538357 m,
      nav range: 43.453995 m,
      bearing: 14.921735 deg,
      approach rate: -0.586567 m/s,
      LOS rate: -0.028178 deg/s,
      cmd heading: 24.928599 deg,
      new cmd heading: 24.888473 deg.

2025-08-21T07:17:35.040Z,1755760655.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434386 target range: 46.538357 and range: 46.80 m.
2025-08-21T07:17:35.053Z,1755760655.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.223839
2025-08-21T07:17:35.310Z,1755760655.310 [DAT](INFO): DAT read: 07:17:33.5313 LVL= 27616, 32753, 21410, 32755, AGC= 60, IDX= 414, 0.14,-2.831, 1.948,-2.272,-2.826, PHS= 0.097,-1.464, 0.511, RAW= 161.4,   9.5, CAL= 161.3,  10.2, ROT= 348.7, -10.2

2025-08-21T07:17:35.312Z,1755760655.312 [DAT](INFO): got valid direction response:
 07:17:33.5313 LVL= 27616, 32753, 21410, 32755, AGC= 60, IDX= 414, 0.14,-2.831, 1.948,-2.272,-2.826, PHS= 0.097,-1.464, 0.511, RAW= 161.4,   9.5, CAL= 161.3,  10.2, ROT= 348.7, -10.2

2025-08-21T07:17:35.313Z,1755760655.313 [DAT](INFO): DAT read: Bearing 196.1,  -8.3 (Local)

2025-08-21T07:17:35.313Z,1755760655.313 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.1,  -8.3 (Local)

2025-08-21T07:17:35.314Z,1755760655.314 [DAT](INFO): DAT read: Range 11 to 50 : 44.6 m  (Round-trip  59.5 ms) speed  0.5 m/s

2025-08-21T07:17:35.325Z,1755760655.325 [DAT](INFO): DAT read: user:2170>

2025-08-21T07:17:35.326Z,1755760655.326 [DAT](INFO): DAT read: Tx time:07:17:34.6176

2025-08-21T07:17:35.327Z,1755760655.327 [DAT](INFO): Ping request sent.
2025-08-21T07:17:35.327Z,1755760655.327 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:35.344Z,1755760655.344 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:35.354Z,1755760655.354 [DAT](INFO): direction in FSK: [0.965117,-0.192849,0.177085]
2025-08-21T07:17:35.354Z,1755760655.354 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:35.354Z,1755760655.354 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:35.370Z,1755760655.370 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:35.370Z,1755760655.370 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:35.532Z,1755760655.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 44.599998 m,
      deltaT: 3.527998 s,
      deltaX: -2.200001 m,
      approachRate: -0.623583 m/s,
      rangeRepo size: 4

2025-08-21T07:17:35.534Z,1755760655.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 44.350925 m,
      bearing: 15.269204 deg,
      lat: 36.779386 deg,
      lon: -121.859373 deg,
      deltaT: 3.527998 s,
      deltaX: -2.187431 m,
      approachRate: -0.620021 m/s,
      posRepo size: 4

2025-08-21T07:17:35.535Z,1755760655.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.35 m.
2025-08-21T07:17:35.542Z,1755760655.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.350925 m,
      nav range: 43.238407 m,
      bearing: 14.877236 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028178 deg/s,
      cmd heading: 24.888473 deg,
      new cmd heading: 24.846599 deg.

2025-08-21T07:17:35.542Z,1755760655.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433655 target range: 44.350925 and range: 44.60 m.
2025-08-21T07:17:35.875Z,1755760655.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.35 m.
2025-08-21T07:17:35.878Z,1755760655.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.350925 m,
      nav range: 43.015209 m,
      bearing: 14.867702 deg,
      approach rate: -0.641425 m/s,
      LOS rate: -0.027542 deg/s,
      cmd heading: 24.846599 deg,
      new cmd heading: 24.817847 deg.

2025-08-21T07:17:35.879Z,1755760655.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433153 target range: 44.350925 and range: 44.60 m.
2025-08-21T07:17:36.290Z,1755760656.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.35 m.
2025-08-21T07:17:36.314Z,1755760656.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.350925 m,
      nav range: 42.767937 m,
      bearing: 14.861981 deg,
      approach rate: -0.596797 m/s,
      LOS rate: -0.013886 deg/s,
      cmd heading: 24.817848 deg,
      new cmd heading: 24.800587 deg.

2025-08-21T07:17:36.320Z,1755760656.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432852 target range: 44.350925 and range: 44.60 m.
2025-08-21T07:17:36.697Z,1755760656.697 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:36.699Z,1755760656.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.35 m.
2025-08-21T07:17:36.704Z,1755760656.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.350925 m,
      nav range: 42.528061 m,
      bearing: 14.856368 deg,
      approach rate: -0.586296 m/s,
      LOS rate: -0.013796 deg/s,
      cmd heading: 24.800588 deg,
      new cmd heading: 24.783654 deg.

2025-08-21T07:17:36.705Z,1755760656.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432556 target range: 44.350925 and range: 44.60 m.
2025-08-21T07:17:36.816Z,1755760656.816 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:36.816Z,1755760656.816 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:36.816Z,1755760656.816 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:37.068Z,1755760657.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741566
2025-08-21T07:17:37.106Z,1755760657.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.35 m.
2025-08-21T07:17:37.125Z,1755760657.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.350925 m,
      nav range: 42.287159 m,
      bearing: 14.857871 deg,
      approach rate: -0.591298 m/s,
      LOS rate: 0.003709 deg/s,
      cmd heading: 24.783654 deg,
      new cmd heading: 24.788187 deg.

2025-08-21T07:17:37.126Z,1755760657.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432635 target range: 44.350925 and range: 44.60 m.
2025-08-21T07:17:37.320Z,1755760657.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.993482
2025-08-21T07:17:37.499Z,1755760657.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.35 m.
2025-08-21T07:17:37.502Z,1755760657.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.350925 m,
      nav range: 42.057209 m,
      bearing: 14.859112 deg,
      approach rate: -0.585369 m/s,
      LOS rate: 0.003176 deg/s,
      cmd heading: 24.788187 deg,
      new cmd heading: 24.791930 deg.

2025-08-21T07:17:37.503Z,1755760657.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432701 target range: 44.350925 and range: 44.60 m.
2025-08-21T07:17:37.574Z,1755760657.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247718
2025-08-21T07:17:37.829Z,1755760657.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501797
2025-08-21T07:17:37.889Z,1755760657.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.35 m.
2025-08-21T07:17:37.892Z,1755760657.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.350925 m,
      nav range: 41.829773 m,
      bearing: 14.860310 deg,
      approach rate: -0.583041 m/s,
      LOS rate: 0.003090 deg/s,
      cmd heading: 24.791930 deg,
      new cmd heading: 24.795546 deg.

2025-08-21T07:17:37.893Z,1755760657.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432764 target range: 44.350925 and range: 44.60 m.
2025-08-21T07:17:38.080Z,1755760658.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753536
2025-08-21T07:17:38.326Z,1755760658.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.35 m.
2025-08-21T07:17:38.329Z,1755760658.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.350925 m,
      nav range: 41.582382 m,
      bearing: 14.869323 deg,
      approach rate: -0.565916 m/s,
      LOS rate: 0.020741 deg/s,
      cmd heading: 24.795545 deg,
      new cmd heading: 24.822746 deg.

2025-08-21T07:17:38.330Z,1755760658.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433239 target range: 44.350925 and range: 44.60 m.
2025-08-21T07:17:38.332Z,1755760658.332 [DAT](INFO): DAT read: Rx Time:07:17:37.0785

2025-08-21T07:17:38.333Z,1755760658.333 [DAT](INFO): Rx dataTimestamp_ set to:1755760658.332535
2025-08-21T07:17:38.333Z,1755760658.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006637
2025-08-21T07:17:38.585Z,1755760658.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257897
2025-08-21T07:17:38.696Z,1755760658.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 44.35 m.
2025-08-21T07:17:38.699Z,1755760658.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 44.350925 m,
      nav range: 41.372868 m,
      bearing: 14.877081 deg,
      approach rate: -0.566613 m/s,
      LOS rate: 0.021086 deg/s,
      cmd heading: 24.822745 deg,
      new cmd heading: 24.846136 deg.

2025-08-21T07:17:38.700Z,1755760658.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433647 target range: 44.350925 and range: 44.60 m.
2025-08-21T07:17:38.842Z,1755760658.842 [DAT](INFO): DAT read: 07:17:37.0785 LVL= 26576, 32433, 21906, 32755, AGC= 59, IDX= 417,-0.33,-0.609,-2.047,-0.012,-0.569, PHS= 0.062,-1.433, 0.513, RAW= 162.8,   9.8, CAL= 162.7,  10.6, ROT= 347.3, -10.6

2025-08-21T07:17:38.843Z,1755760658.843 [DAT](INFO): got valid direction response:
 07:17:37.0785 LVL= 26576, 32433, 21906, 32755, AGC= 59, IDX= 417,-0.33,-0.609,-2.047,-0.012,-0.569, PHS= 0.062,-1.433, 0.513, RAW= 162.8,   9.8, CAL= 162.7,  10.6, ROT= 347.3, -10.6

2025-08-21T07:17:38.844Z,1755760658.844 [DAT](INFO): DAT read: Bearing 196.9,  -9.8 (Local)

2025-08-21T07:17:38.845Z,1755760658.845 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.9,  -9.8 (Local)

2025-08-21T07:17:38.846Z,1755760658.846 [DAT](INFO): DAT read: Range 11 to 50 : 42.5 m  (Round-trip  56.7 ms) speed  0.6 m/s

2025-08-21T07:17:38.847Z,1755760658.847 [DAT](INFO): DAT read: user:2171>

2025-08-21T07:17:38.848Z,1755760658.848 [DAT](INFO): DAT read: Tx time:07:17:38.1676

2025-08-21T07:17:38.848Z,1755760658.848 [DAT](INFO): Ping request sent.
2025-08-21T07:17:38.848Z,1755760658.848 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:38.849Z,1755760658.849 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:38.850Z,1755760658.850 [DAT](INFO): direction in FSK: [0.958887,-0.216095,0.183951]
2025-08-21T07:17:38.850Z,1755760658.850 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:38.850Z,1755760658.850 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:38.853Z,1755760658.853 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:38.854Z,1755760658.854 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:39.192Z,1755760659.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 42.500000 m,
      deltaT: 3.531717 s,
      deltaX: -2.099998 m,
      approachRate: -0.594611 m/s,
      rangeRepo size: 4

2025-08-21T07:17:39.194Z,1755760659.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 42.262569 m,
      bearing: 13.944055 deg,
      lat: 36.779387 deg,
      lon: -121.859374 deg,
      deltaT: 3.531717 s,
      deltaX: -2.088356 m,
      approachRate: -0.591315 m/s,
      posRepo size: 4

2025-08-21T07:17:39.195Z,1755760659.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.26 m.
2025-08-21T07:17:39.201Z,1755760659.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.262569 m,
      nav range: 41.102058 m,
      bearing: 14.756186 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021086 deg/s,
      cmd heading: 24.846136 deg,
      new cmd heading: 24.877458 deg.

2025-08-21T07:17:39.202Z,1755760659.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434194 target range: 42.262569 and range: 42.50 m.
2025-08-21T07:17:39.562Z,1755760659.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:39.564Z,1755760659.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.26 m.
2025-08-21T07:17:39.567Z,1755760659.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.262569 m,
      nav range: 40.874947 m,
      bearing: 14.767709 deg,
      approach rate: -0.608928 m/s,
      LOS rate: 0.031067 deg/s,
      cmd heading: 24.877458 deg,
      new cmd heading: 24.912219 deg.

2025-08-21T07:17:39.568Z,1755760659.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434800 target range: 42.262569 and range: 42.50 m.
2025-08-21T07:17:39.592Z,1755760659.592 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:39.592Z,1755760659.592 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:39.592Z,1755760659.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:39.844Z,1755760659.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995935
2025-08-21T07:17:39.977Z,1755760659.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.26 m.
2025-08-21T07:17:39.980Z,1755760659.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.262569 m,
      nav range: 40.640255 m,
      bearing: 14.779806 deg,
      approach rate: -0.568263 m/s,
      LOS rate: 0.029459 deg/s,
      cmd heading: 24.912220 deg,
      new cmd heading: 24.948720 deg.

2025-08-21T07:17:39.981Z,1755760659.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435437 target range: 42.262569 and range: 42.50 m.
2025-08-21T07:17:40.100Z,1755760660.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251565
2025-08-21T07:17:40.348Z,1755760660.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500056
2025-08-21T07:17:40.414Z,1755760660.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.26 m.
2025-08-21T07:17:40.417Z,1755760660.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.262569 m,
      nav range: 40.391815 m,
      bearing: 14.796425 deg,
      approach rate: -0.568607 m/s,
      LOS rate: 0.038271 deg/s,
      cmd heading: 24.948721 deg,
      new cmd heading: 24.998885 deg.

2025-08-21T07:17:40.418Z,1755760660.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436313 target range: 42.262569 and range: 42.50 m.
2025-08-21T07:17:40.600Z,1755760660.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751908
2025-08-21T07:17:40.788Z,1755760660.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.26 m.
2025-08-21T07:17:40.790Z,1755760660.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.262569 m,
      nav range: 40.179359 m,
      bearing: 14.810882 deg,
      approach rate: -0.568809 m/s,
      LOS rate: 0.038910 deg/s,
      cmd heading: 24.998885 deg,
      new cmd heading: 25.042485 deg.

2025-08-21T07:17:40.792Z,1755760660.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437074 target range: 42.262569 and range: 42.50 m.
2025-08-21T07:17:40.853Z,1755760660.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004276
2025-08-21T07:17:41.104Z,1755760661.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256039
2025-08-21T07:17:41.259Z,1755760661.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.26 m.
2025-08-21T07:17:41.262Z,1755760661.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.262569 m,
      nav range: 39.917831 m,
      bearing: 14.831652 deg,
      approach rate: -0.554605 m/s,
      LOS rate: 0.044333 deg/s,
      cmd heading: 25.042486 deg,
      new cmd heading: 25.105203 deg.

2025-08-21T07:17:41.263Z,1755760661.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438168 target range: 42.262569 and range: 42.50 m.
2025-08-21T07:17:41.356Z,1755760661.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507967
2025-08-21T07:17:41.610Z,1755760661.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761778
2025-08-21T07:17:41.725Z,1755760661.725 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:41.727Z,1755760661.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.26 m.
2025-08-21T07:17:41.729Z,1755760661.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.262569 m,
      nav range: 39.668621 m,
      bearing: 14.851957 deg,
      approach rate: -0.532998 m/s,
      LOS rate: 0.043700 deg/s,
      cmd heading: 25.105202 deg,
      new cmd heading: 25.166500 deg.

2025-08-21T07:17:41.730Z,1755760661.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439238 target range: 42.262569 and range: 42.50 m.
2025-08-21T07:17:41.860Z,1755760661.860 [DAT](INFO): DAT read: Rx Time:07:17:40.6257

2025-08-21T07:17:41.861Z,1755760661.861 [DAT](INFO): Rx dataTimestamp_ set to:1755760661.860564
2025-08-21T07:17:41.861Z,1755760661.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013113
2025-08-21T07:17:42.116Z,1755760662.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266405
2025-08-21T07:17:42.216Z,1755760662.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.26 m.
2025-08-21T07:17:42.223Z,1755760662.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 42.262569 m,
      nav range: 39.395973 m,
      bearing: 14.866762 deg,
      approach rate: -0.556689 m/s,
      LOS rate: 0.030438 deg/s,
      cmd heading: 25.166500 deg,
      new cmd heading: 25.211223 deg.

2025-08-21T07:17:42.224Z,1755760662.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440019 target range: 42.262569 and range: 42.50 m.
2025-08-21T07:17:42.370Z,1755760662.370 [DAT](INFO): DAT read: 07:17:40.6257 LVL= 25696, 30897, 22450, 32755, AGC= 58, IDX= 421,-0.04, 0.001,-1.456, 0.593, 0.038, PHS= 0.065,-1.449, 0.511, RAW= 162.5,   9.8, CAL= 162.4,  10.6, ROT= 347.6, -10.6

2025-08-21T07:17:42.371Z,1755760662.371 [DAT](INFO): got valid direction response:
 07:17:40.6257 LVL= 25696, 30897, 22450, 32755, AGC= 58, IDX= 421,-0.04, 0.001,-1.456, 0.593, 0.038, PHS= 0.065,-1.449, 0.511, RAW= 162.5,   9.8, CAL= 162.4,  10.6, ROT= 347.6, -10.6

2025-08-21T07:17:42.372Z,1755760662.372 [DAT](INFO): DAT read: Bearing 196.8,  -9.7 (Local)

2025-08-21T07:17:42.372Z,1755760662.372 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.8,  -9.7 (Local)

2025-08-21T07:17:42.374Z,1755760662.374 [DAT](INFO): DAT read: Range 11 to 50 : 40.5 m  (Round-trip  54.0 ms) speed  0.4 m/s

2025-08-21T07:17:42.374Z,1755760662.374 [DAT](INFO): DAT read: user:2172>

2025-08-21T07:17:42.391Z,1755760662.391 [DAT](INFO): DAT read: Tx time:07:17:41.7176

2025-08-21T07:17:42.393Z,1755760662.393 [DAT](INFO): Ping request sent.
2025-08-21T07:17:42.393Z,1755760662.393 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:42.394Z,1755760662.394 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:42.399Z,1755760662.399 [DAT](INFO): direction in FSK: [0.960006,-0.211071,0.183951]
2025-08-21T07:17:42.400Z,1755760662.400 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:42.400Z,1755760662.400 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:42.403Z,1755760662.403 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:42.423Z,1755760662.423 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:42.699Z,1755760662.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.500000 m,
      deltaT: 3.527912 s,
      deltaX: -2.000000 m,
      approachRate: -0.566908 m/s,
      rangeRepo size: 4

2025-08-21T07:17:42.701Z,1755760662.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.273815 m,
      bearing: 14.069385 deg,
      lat: 36.779388 deg,
      lon: -121.859377 deg,
      deltaT: 3.527912 s,
      deltaX: -1.988754 m,
      approachRate: -0.563720 m/s,
      posRepo size: 4

2025-08-21T07:17:42.702Z,1755760662.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.27 m.
2025-08-21T07:17:42.705Z,1755760662.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.273815 m,
      nav range: 39.181267 m,
      bearing: 14.436143 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030438 deg/s,
      cmd heading: 25.211222 deg,
      new cmd heading: 25.255238 deg.

2025-08-21T07:17:42.706Z,1755760662.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440787 target range: 40.273815 and range: 40.50 m.
2025-08-21T07:17:43.195Z,1755760663.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.27 m.
2025-08-21T07:17:43.198Z,1755760663.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.273815 m,
      nav range: 38.899029 m,
      bearing: 14.446455 deg,
      approach rate: -0.568297 m/s,
      LOS rate: 0.020915 deg/s,
      cmd heading: 25.255239 deg,
      new cmd heading: 25.286401 deg.

2025-08-21T07:17:43.199Z,1755760663.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441331 target range: 40.273815 and range: 40.50 m.
2025-08-21T07:17:43.540Z,1755760663.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.27 m.
2025-08-21T07:17:43.542Z,1755760663.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.273815 m,
      nav range: 38.703506 m,
      bearing: 14.453823 deg,
      approach rate: -0.567081 m/s,
      LOS rate: 0.021476 deg/s,
      cmd heading: 25.286402 deg,
      new cmd heading: 25.308616 deg.

2025-08-21T07:17:43.544Z,1755760663.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441719 target range: 40.273815 and range: 40.50 m.
2025-08-21T07:17:43.964Z,1755760663.964 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:43.966Z,1755760663.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.27 m.
2025-08-21T07:17:43.969Z,1755760663.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.273815 m,
      nav range: 38.462658 m,
      bearing: 14.463146 deg,
      approach rate: -0.564502 m/s,
      LOS rate: 0.021988 deg/s,
      cmd heading: 25.308615 deg,
      new cmd heading: 25.336760 deg.

2025-08-21T07:17:43.970Z,1755760663.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442210 target range: 40.273815 and range: 40.50 m.
2025-08-21T07:17:44.131Z,1755760664.131 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:44.131Z,1755760664.131 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:44.132Z,1755760664.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:44.380Z,1755760664.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987449
2025-08-21T07:17:44.408Z,1755760664.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.27 m.
2025-08-21T07:17:44.418Z,1755760664.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.273815 m,
      nav range: 38.227310 m,
      bearing: 14.466041 deg,
      approach rate: -0.533214 m/s,
      LOS rate: 0.006600 deg/s,
      cmd heading: 25.336759 deg,
      new cmd heading: 25.345498 deg.

2025-08-21T07:17:44.441Z,1755760664.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442362 target range: 40.273815 and range: 40.50 m.
2025-08-21T07:17:44.632Z,1755760664.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239534
2025-08-21T07:17:44.781Z,1755760664.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.27 m.
2025-08-21T07:17:44.824Z,1755760664.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.273815 m,
      nav range: 37.991703 m,
      bearing: 14.468932 deg,
      approach rate: -0.631814 m/s,
      LOS rate: 0.007801 deg/s,
      cmd heading: 25.345498 deg,
      new cmd heading: 25.354226 deg.

2025-08-21T07:17:44.825Z,1755760664.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442515 target range: 40.273815 and range: 40.50 m.
2025-08-21T07:17:44.885Z,1755760664.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492464
2025-08-21T07:17:45.139Z,1755760665.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745759
2025-08-21T07:17:45.221Z,1755760665.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.27 m.
2025-08-21T07:17:45.224Z,1755760665.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.273815 m,
      nav range: 37.738678 m,
      bearing: 14.466584 deg,
      approach rate: -0.574506 m/s,
      LOS rate: -0.005367 deg/s,
      cmd heading: 25.354226 deg,
      new cmd heading: 25.347135 deg.

2025-08-21T07:17:45.225Z,1755760665.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442391 target range: 40.273815 and range: 40.50 m.
2025-08-21T07:17:45.388Z,1755760665.388 [DAT](INFO): DAT read: Rx Time:07:17:44.1730

2025-08-21T07:17:45.389Z,1755760665.389 [DAT](INFO): Rx dataTimestamp_ set to:1755760665.388432
2025-08-21T07:17:45.389Z,1755760665.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996634
2025-08-21T07:17:45.627Z,1755760665.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.27 m.
2025-08-21T07:17:45.630Z,1755760665.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.273815 m,
      nav range: 37.516895 m,
      bearing: 14.464500 deg,
      approach rate: -0.546837 m/s,
      LOS rate: -0.005169 deg/s,
      cmd heading: 25.347134 deg,
      new cmd heading: 25.340845 deg.

2025-08-21T07:17:45.631Z,1755760665.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442281 target range: 40.273815 and range: 40.50 m.
2025-08-21T07:17:45.640Z,1755760665.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247727
2025-08-21T07:17:45.898Z,1755760665.898 [DAT](INFO): DAT read: 07:17:44.1730 LVL= 24160, 29121, 18866, 32755, AGC= 59, IDX= 410,-0.47,-2.562, 2.269,-1.950,-2.506, PHS= 0.047,-1.463, 0.513, RAW= 163.0,  10.1, CAL= 163.0,  11.1, ROT= 347.0, -11.1

2025-08-21T07:17:45.899Z,1755760665.899 [DAT](INFO): got valid direction response:
 07:17:44.1730 LVL= 24160, 29121, 18866, 32755, AGC= 59, IDX= 410,-0.47,-2.562, 2.269,-1.950,-2.506, PHS= 0.047,-1.463, 0.513, RAW= 163.0,  10.1, CAL= 163.0,  11.1, ROT= 347.0, -11.1

2025-08-21T07:17:45.900Z,1755760665.900 [DAT](INFO): DAT read: Bearing 197.1, -10.6 (Local)

2025-08-21T07:17:45.900Z,1755760665.900 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.1, -10.6 (Local)

2025-08-21T07:17:45.902Z,1755760665.902 [DAT](INFO): DAT read: Range 11 to 50 : 38.4 m  (Round-trip  51.2 ms) speed  0.6 m/s

2025-08-21T07:17:45.902Z,1755760665.902 [DAT](INFO): DAT read: user:2173>

2025-08-21T07:17:45.904Z,1755760665.904 [DAT](INFO): DAT read: Tx time:07:17:45.2676

2025-08-21T07:17:45.905Z,1755760665.905 [DAT](INFO): Ping request sent.
2025-08-21T07:17:45.905Z,1755760665.905 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:45.906Z,1755760665.906 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:45.908Z,1755760665.908 [DAT](INFO): direction in FSK: [0.956142,-0.220743,0.192522]
2025-08-21T07:17:45.909Z,1755760665.909 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:45.909Z,1755760665.909 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:45.936Z,1755760665.936 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:45.937Z,1755760665.937 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:46.061Z,1755760666.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.400002 m,
      deltaT: 3.527871 s,
      deltaX: -2.099998 m,
      approachRate: -0.595259 m/s,
      rangeRepo size: 4

2025-08-21T07:17:46.062Z,1755760666.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.185532 m,
      bearing: 13.383744 deg,
      lat: 36.779389 deg,
      lon: -121.859379 deg,
      deltaT: 3.527871 s,
      deltaX: -2.088284 m,
      approachRate: -0.591939 m/s,
      posRepo size: 4

2025-08-21T07:17:46.067Z,1755760666.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.19 m.
2025-08-21T07:17:46.070Z,1755760666.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.185532 m,
      nav range: 37.406002 m,
      bearing: 14.095922 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005169 deg/s,
      cmd heading: 25.340845 deg,
      new cmd heading: 25.334129 deg.

2025-08-21T07:17:46.083Z,1755760666.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442164 target range: 38.185532 and range: 38.40 m.
2025-08-21T07:17:46.508Z,1755760666.508 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:46.510Z,1755760666.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.19 m.
2025-08-21T07:17:46.513Z,1755760666.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.185532 m,
      nav range: 37.105137 m,
      bearing: 14.085154 deg,
      approach rate: -0.667979 m/s,
      LOS rate: -0.024101 deg/s,
      cmd heading: 25.334128 deg,
      new cmd heading: 25.301562 deg.

2025-08-21T07:17:46.514Z,1755760666.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441596 target range: 38.185532 and range: 38.40 m.
2025-08-21T07:17:46.648Z,1755760666.648 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:46.648Z,1755760666.648 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:46.648Z,1755760666.648 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:46.832Z,1755760666.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.19 m.
2025-08-21T07:17:46.834Z,1755760666.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.185532 m,
      nav range: 36.924618 m,
      bearing: 14.078617 deg,
      approach rate: -0.599612 m/s,
      LOS rate: -0.021819 deg/s,
      cmd heading: 25.301562 deg,
      new cmd heading: 25.281855 deg.

2025-08-21T07:17:46.840Z,1755760666.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441252 target range: 38.185532 and range: 38.40 m.
2025-08-21T07:17:46.902Z,1755760666.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996767
2025-08-21T07:17:47.156Z,1755760667.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250268
2025-08-21T07:17:47.216Z,1755760667.216 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  79.14,  80.15,  78.12
2025-08-21T07:17:47.242Z,1755760667.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.19 m.
2025-08-21T07:17:47.245Z,1755760667.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.185532 m,
      nav range: 36.673717 m,
      bearing: 14.069546 deg,
      approach rate: -0.582614 m/s,
      LOS rate: -0.021207 deg/s,
      cmd heading: 25.281855 deg,
      new cmd heading: 25.254457 deg.

2025-08-21T07:17:47.246Z,1755760667.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440773 target range: 38.185532 and range: 38.40 m.
2025-08-21T07:17:47.405Z,1755760667.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500214
2025-08-21T07:17:47.623Z,1755760667.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.19 m.
2025-08-21T07:17:47.626Z,1755760667.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.185532 m,
      nav range: 36.438835 m,
      bearing: 14.060849 deg,
      approach rate: -0.616475 m/s,
      LOS rate: -0.022973 deg/s,
      cmd heading: 25.254457 deg,
      new cmd heading: 25.228199 deg.

2025-08-21T07:17:47.627Z,1755760667.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440315 target range: 38.185532 and range: 38.40 m.
2025-08-21T07:17:47.657Z,1755760667.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751810
2025-08-21T07:17:47.909Z,1755760667.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003702
2025-08-21T07:17:48.040Z,1755760668.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.19 m.
2025-08-21T07:17:48.043Z,1755760668.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.185532 m,
      nav range: 36.198696 m,
      bearing: 14.051719 deg,
      approach rate: -0.575598 m/s,
      LOS rate: -0.022030 deg/s,
      cmd heading: 25.228198 deg,
      new cmd heading: 25.200626 deg.

2025-08-21T07:17:48.048Z,1755760668.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439834 target range: 38.185532 and range: 38.40 m.
2025-08-21T07:17:48.164Z,1755760668.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258895
2025-08-21T07:17:48.413Z,1755760668.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508364
2025-08-21T07:17:48.506Z,1755760668.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.19 m.
2025-08-21T07:17:48.513Z,1755760668.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.185532 m,
      nav range: 35.919586 m,
      bearing: 14.028438 deg,
      approach rate: -0.599753 m/s,
      LOS rate: -0.050417 deg/s,
      cmd heading: 25.200627 deg,
      new cmd heading: 25.130239 deg.

2025-08-21T07:17:48.513Z,1755760668.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438605 target range: 38.185532 and range: 38.40 m.
2025-08-21T07:17:48.664Z,1755760668.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759441
2025-08-21T07:17:48.847Z,1755760668.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:48.865Z,1755760668.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.19 m.
2025-08-21T07:17:48.880Z,1755760668.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.185532 m,
      nav range: 35.706272 m,
      bearing: 14.010227 deg,
      approach rate: -0.593816 m/s,
      LOS rate: -0.050998 deg/s,
      cmd heading: 25.130238 deg,
      new cmd heading: 25.075279 deg.

2025-08-21T07:17:48.881Z,1755760668.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437646 target range: 38.185532 and range: 38.40 m.
2025-08-21T07:17:48.918Z,1755760668.918 [DAT](INFO): DAT read: Rx Time:07:17:47.7203

2025-08-21T07:17:48.918Z,1755760668.918 [DAT](INFO): Rx dataTimestamp_ set to:1755760668.917704
2025-08-21T07:17:48.919Z,1755760668.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013747
2025-08-21T07:17:49.172Z,1755760669.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266144
2025-08-21T07:17:49.282Z,1755760669.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.19 m.
2025-08-21T07:17:49.284Z,1755760669.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.185532 m,
      nav range: 35.443188 m,
      bearing: 13.989290 deg,
      approach rate: -0.631328 m/s,
      LOS rate: -0.050615 deg/s,
      cmd heading: 25.075279 deg,
      new cmd heading: 25.012003 deg.

2025-08-21T07:17:49.285Z,1755760669.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436542 target range: 38.185532 and range: 38.40 m.
2025-08-21T07:17:49.440Z,1755760669.440 [DAT](INFO): DAT read: 07:17:47.7203 LVL= 30848, 32753, 23794, 32755, AGC= 60, IDX= 413, 0.03,-0.429,-1.922, 0.190,-0.387, PHS= 0.060,-1.490, 0.533, RAW= 162.9,   9.8, CAL= 162.8,  10.6, ROT= 347.2, -10.6

2025-08-21T07:17:49.441Z,1755760669.441 [DAT](INFO): got valid direction response:
 07:17:47.7203 LVL= 30848, 32753, 23794, 32755, AGC= 60, IDX= 413, 0.03,-0.429,-1.922, 0.190,-0.387, PHS= 0.060,-1.490, 0.533, RAW= 162.9,   9.8, CAL= 162.8,  10.6, ROT= 347.2, -10.6

2025-08-21T07:17:49.442Z,1755760669.442 [DAT](INFO): DAT read: Bearing 196.7, -10.8 (Local)

2025-08-21T07:17:49.443Z,1755760669.443 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.7, -10.8 (Local)

2025-08-21T07:17:49.448Z,1755760669.448 [DAT](INFO): DAT read: Range 11 to 50 : 36.3 m  (Round-trip  48.5 ms) speed  0.5 m/s

2025-08-21T07:17:49.449Z,1755760669.449 [DAT](INFO): DAT read: user:2174>

2025-08-21T07:17:49.450Z,1755760669.450 [DAT](INFO): DAT read: Tx time:07:17:48.8176

2025-08-21T07:17:49.450Z,1755760669.450 [DAT](INFO): Ping request sent.
2025-08-21T07:17:49.450Z,1755760669.450 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:49.450Z,1755760669.450 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:49.460Z,1755760669.460 [DAT](INFO): direction in FSK: [0.958509,-0.217768,0.183951]
2025-08-21T07:17:49.460Z,1755760669.460 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:49.460Z,1755760669.460 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:49.469Z,1755760669.469 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:49.471Z,1755760669.471 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:49.707Z,1755760669.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 36.299999 m,
      deltaT: 3.529933 s,
      deltaX: -2.100002 m,
      approachRate: -0.594913 m/s,
      rangeRepo size: 4

2025-08-21T07:17:49.713Z,1755760669.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 36.097176 m,
      bearing: 13.677912 deg,
      lat: 36.779389 deg,
      lon: -121.859380 deg,
      deltaT: 3.529933 s,
      deltaX: -2.088356 m,
      approachRate: -0.591613 m/s,
      posRepo size: 4

2025-08-21T07:17:49.714Z,1755760669.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m.
2025-08-21T07:17:49.720Z,1755760669.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.097176 m,
      nav range: 35.200497 m,
      bearing: 13.904202 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.050615 deg/s,
      cmd heading: 25.012002 deg,
      new cmd heading: 24.947542 deg.

2025-08-21T07:17:49.721Z,1755760669.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435417 target range: 36.097176 and range: 36.30 m.
2025-08-21T07:17:50.086Z,1755760670.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m.
2025-08-21T07:17:50.089Z,1755760670.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.097176 m,
      nav range: 34.949036 m,
      bearing: 13.883155 deg,
      approach rate: -0.661117 m/s,
      LOS rate: -0.055731 deg/s,
      cmd heading: 24.947543 deg,
      new cmd heading: 24.883949 deg.

2025-08-21T07:17:50.090Z,1755760670.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434307 target range: 36.097176 and range: 36.30 m.
2025-08-21T07:17:50.523Z,1755760670.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m.
2025-08-21T07:17:50.526Z,1755760670.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.097176 m,
      nav range: 34.700680 m,
      bearing: 13.873280 deg,
      approach rate: -0.573981 m/s,
      LOS rate: -0.022987 deg/s,
      cmd heading: 24.883948 deg,
      new cmd heading: 24.854109 deg.

2025-08-21T07:17:50.527Z,1755760670.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433786 target range: 36.097176 and range: 36.30 m.
2025-08-21T07:17:50.886Z,1755760670.886 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:50.888Z,1755760670.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m.
2025-08-21T07:17:50.895Z,1755760670.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.097176 m,
      nav range: 34.471157 m,
      bearing: 13.863879 deg,
      approach rate: -0.621418 m/s,
      LOS rate: -0.025620 deg/s,
      cmd heading: 24.854109 deg,
      new cmd heading: 24.825721 deg.

2025-08-21T07:17:50.897Z,1755760670.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433291 target range: 36.097176 and range: 36.30 m.
2025-08-21T07:17:50.932Z,1755760670.932 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:50.932Z,1755760670.932 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:50.932Z,1755760670.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:51.186Z,1755760671.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735414
2025-08-21T07:17:51.312Z,1755760671.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m.
2025-08-21T07:17:51.315Z,1755760671.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.097176 m,
      nav range: 34.221394 m,
      bearing: 13.858709 deg,
      approach rate: -0.589912 m/s,
      LOS rate: -0.012300 deg/s,
      cmd heading: 24.825721 deg,
      new cmd heading: 24.810097 deg.

2025-08-21T07:17:51.316Z,1755760671.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433018 target range: 36.097176 and range: 36.30 m.
2025-08-21T07:17:51.437Z,1755760671.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986404
2025-08-21T07:17:51.689Z,1755760671.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238443
2025-08-21T07:17:51.782Z,1755760671.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m.
2025-08-21T07:17:51.785Z,1755760671.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.097176 m,
      nav range: 33.943989 m,
      bearing: 13.852801 deg,
      approach rate: -0.589920 m/s,
      LOS rate: -0.012667 deg/s,
      cmd heading: 24.810097 deg,
      new cmd heading: 24.792227 deg.

2025-08-21T07:17:51.786Z,1755760671.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432706 target range: 36.097176 and range: 36.30 m.
2025-08-21T07:17:51.940Z,1755760671.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490015
2025-08-21T07:17:52.192Z,1755760672.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742120
2025-08-21T07:17:52.214Z,1755760672.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m.
2025-08-21T07:17:52.238Z,1755760672.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.097176 m,
      nav range: 33.702213 m,
      bearing: 13.848075 deg,
      approach rate: -0.560101 m/s,
      LOS rate: -0.011027 deg/s,
      cmd heading: 24.792227 deg,
      new cmd heading: 24.777948 deg.

2025-08-21T07:17:52.252Z,1755760672.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432457 target range: 36.097176 and range: 36.30 m.
2025-08-21T07:17:52.446Z,1755760672.446 [DAT](INFO): DAT read: Rx Time:07:17:51.2674

2025-08-21T07:17:52.447Z,1755760672.447 [DAT](INFO): Rx dataTimestamp_ set to:1755760672.446222
2025-08-21T07:17:52.447Z,1755760672.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996905
2025-08-21T07:17:52.696Z,1755760672.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245993
2025-08-21T07:17:52.772Z,1755760672.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m.
2025-08-21T07:17:52.775Z,1755760672.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 36.097176 m,
      nav range: 33.358101 m,
      bearing: 13.843759 deg,
      approach rate: -0.616378 m/s,
      LOS rate: -0.007811 deg/s,
      cmd heading: 24.777947 deg,
      new cmd heading: 24.764865 deg.

2025-08-21T07:17:52.776Z,1755760672.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432228 target range: 36.097176 and range: 36.30 m.
2025-08-21T07:17:52.953Z,1755760672.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.501859
2025-08-21T07:17:53.210Z,1755760673.210 [DAT](INFO): DAT read: 07:17:51.2674 LVL= 26560, 32753, 22770, 32755, AGC= 57, IDX= 416,-0.38, 2.714, 1.286,-2.951, 2.787, PHS= 0.030,-1.456, 0.501, RAW= 163.3,  10.5, CAL= 163.4,  11.6, ROT= 346.6, -11.6

2025-08-21T07:17:53.211Z,1755760673.211 [DAT](INFO): got valid direction response:
 07:17:51.2674 LVL= 26560, 32753, 22770, 32755, AGC= 57, IDX= 416,-0.38, 2.714, 1.286,-2.951, 2.787, PHS= 0.030,-1.456, 0.501, RAW= 163.3,  10.5, CAL= 163.4,  11.6, ROT= 346.6, -11.6

2025-08-21T07:17:53.212Z,1755760673.212 [DAT](INFO): DAT read: Bearing 197.7, -11.9 (Local)

2025-08-21T07:17:53.212Z,1755760673.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.7, -11.9 (Local)

2025-08-21T07:17:53.214Z,1755760673.214 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m  (Round-trip  45.7 ms) speed  0.5 m/s

2025-08-21T07:17:53.214Z,1755760673.214 [DAT](INFO): DAT read: user:2175>

2025-08-21T07:17:53.218Z,1755760673.218 [DAT](INFO): DAT read: Tx time:07:17:52.3676

2025-08-21T07:17:53.219Z,1755760673.219 [DAT](INFO): Ping request sent.
2025-08-21T07:17:53.228Z,1755760673.228 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:53.229Z,1755760673.229 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:53.233Z,1755760673.233 [DAT](INFO): direction in FSK: [0.952907,-0.227015,0.201078]
2025-08-21T07:17:53.234Z,1755760673.234 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:53.235Z,1755760673.235 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:53.273Z,1755760673.273 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:53.274Z,1755760673.274 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:53.329Z,1755760673.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 34.200001 m,
      deltaT: 3.778904 s,
      deltaX: -2.099998 m,
      approachRate: -0.555716 m/s,
      rangeRepo size: 4

2025-08-21T07:17:53.336Z,1755760673.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 34.009609 m,
      bearing: 12.985091 deg,
      lat: 36.779390 deg,
      lon: -121.859381 deg,
      deltaT: 3.778904 s,
      deltaX: -2.087566 m,
      approachRate: -0.552426 m/s,
      posRepo size: 4

2025-08-21T07:17:53.336Z,1755760673.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T07:17:53.343Z,1755760673.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.009609 m,
      nav range: 33.066448 m,
      bearing: 13.660806 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007811 deg/s,
      cmd heading: 24.764866 deg,
      new cmd heading: 24.751819 deg.

2025-08-21T07:17:53.344Z,1755760673.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432001 target range: 34.009609 and range: 34.20 m.
2025-08-21T07:17:53.722Z,1755760673.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:53.729Z,1755760673.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T07:17:53.736Z,1755760673.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.009609 m,
      nav range: 32.833187 m,
      bearing: 13.665447 deg,
      approach rate: -0.583246 m/s,
      LOS rate: 0.011687 deg/s,
      cmd heading: 24.751818 deg,
      new cmd heading: 24.765840 deg.

2025-08-21T07:17:53.737Z,1755760673.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432245 target range: 34.009609 and range: 34.20 m.
2025-08-21T07:17:53.957Z,1755760673.957 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:53.957Z,1755760673.957 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:53.957Z,1755760673.957 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:54.097Z,1755760674.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T07:17:54.100Z,1755760674.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.009609 m,
      nav range: 32.620869 m,
      bearing: 13.670011 deg,
      approach rate: -0.579497 m/s,
      LOS rate: 0.012538 deg/s,
      cmd heading: 24.765841 deg,
      new cmd heading: 24.779622 deg.

2025-08-21T07:17:54.101Z,1755760674.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432486 target range: 34.009609 and range: 34.20 m.
2025-08-21T07:17:54.208Z,1755760674.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989678
2025-08-21T07:17:54.460Z,1755760674.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241361
2025-08-21T07:17:54.535Z,1755760674.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T07:17:54.538Z,1755760674.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.009609 m,
      nav range: 32.369419 m,
      bearing: 13.679679 deg,
      approach rate: -0.571424 m/s,
      LOS rate: 0.022142 deg/s,
      cmd heading: 24.779622 deg,
      new cmd heading: 24.808852 deg.

2025-08-21T07:17:54.539Z,1755760674.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432996 target range: 34.009609 and range: 34.20 m.
2025-08-21T07:17:54.712Z,1755760674.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493507
2025-08-21T07:17:54.925Z,1755760674.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T07:17:54.927Z,1755760674.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.009609 m,
      nav range: 32.146904 m,
      bearing: 13.688599 deg,
      approach rate: -0.571530 m/s,
      LOS rate: 0.023068 deg/s,
      cmd heading: 24.808852 deg,
      new cmd heading: 24.835796 deg.

2025-08-21T07:17:54.928Z,1755760674.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433466 target range: 34.009609 and range: 34.20 m.
2025-08-21T07:17:54.967Z,1755760674.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748729
2025-08-21T07:17:55.216Z,1755760675.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997464
2025-08-21T07:17:55.430Z,1755760675.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T07:17:55.433Z,1755760675.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.009609 m,
      nav range: 31.872801 m,
      bearing: 13.711338 deg,
      approach rate: -0.542079 m/s,
      LOS rate: 0.045356 deg/s,
      cmd heading: 24.835796 deg,
      new cmd heading: 24.904598 deg.

2025-08-21T07:17:55.434Z,1755760675.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434667 target range: 34.009609 and range: 34.20 m.
2025-08-21T07:17:55.469Z,1755760675.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250249
2025-08-21T07:17:55.720Z,1755760675.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501317
2025-08-21T07:17:55.748Z,1755760675.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T07:17:55.750Z,1755760675.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.009609 m,
      nav range: 31.704918 m,
      bearing: 13.725740 deg,
      approach rate: -0.596762 m/s,
      LOS rate: 0.051465 deg/s,
      cmd heading: 24.904598 deg,
      new cmd heading: 24.948032 deg.

2025-08-21T07:17:55.751Z,1755760675.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435425 target range: 34.009609 and range: 34.20 m.
2025-08-21T07:17:55.973Z,1755760675.973 [DAT](INFO): DAT read: Rx Time:07:17:54.8147

2025-08-21T07:17:55.974Z,1755760675.974 [DAT](INFO): Rx dataTimestamp_ set to:1755760675.973418
2025-08-21T07:17:55.974Z,1755760675.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755525
2025-08-21T07:17:56.113Z,1755760676.113 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:56.140Z,1755760676.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T07:17:56.152Z,1755760676.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.009609 m,
      nav range: 31.478094 m,
      bearing: 13.745826 deg,
      approach rate: -0.561876 m/s,
      LOS rate: 0.050117 deg/s,
      cmd heading: 24.948033 deg,
      new cmd heading: 25.008727 deg.

2025-08-21T07:17:56.153Z,1755760676.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436485 target range: 34.009609 and range: 34.20 m.
2025-08-21T07:17:56.225Z,1755760676.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006222
2025-08-21T07:17:56.485Z,1755760676.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265364
2025-08-21T07:17:56.614Z,1755760676.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m.
2025-08-21T07:17:56.618Z,1755760676.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 34.009609 m,
      nav range: 31.201931 m,
      bearing: 13.758840 deg,
      approach rate: -0.553502 m/s,
      LOS rate: 0.026313 deg/s,
      cmd heading: 25.008727 deg,
      new cmd heading: 25.048113 deg.

2025-08-21T07:17:56.631Z,1755760676.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437172 target range: 34.009609 and range: 34.20 m.
2025-08-21T07:17:56.736Z,1755760676.736 [DAT](INFO): DAT read: 07:17:54.8147 LVL= 25696, 32753, 21618, 32755, AGC= 57, IDX= 420, 0.14,-2.093, 2.757,-1.475,-1.969, PHS=-0.023,-1.513, 0.449, RAW= 163.3,  12.2, CAL= 163.6,  14.0, ROT= 346.4, -14.0

2025-08-21T07:17:56.737Z,1755760676.737 [DAT](INFO): got valid direction response:
 07:17:54.8147 LVL= 25696, 32753, 21618, 32755, AGC= 57, IDX= 420, 0.14,-2.093, 2.757,-1.475,-1.969, PHS=-0.023,-1.513, 0.449, RAW= 163.3,  12.2, CAL= 163.6,  14.0, ROT= 346.4, -14.0

2025-08-21T07:17:56.739Z,1755760676.739 [DAT](INFO): DAT read: Bearing 200.0, -13.1 (Local)

2025-08-21T07:17:56.741Z,1755760676.741 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.0, -13.1 (Local)

2025-08-21T07:17:56.742Z,1755760676.742 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m  (Round-trip  42.9 ms) speed  0.4 m/s

2025-08-21T07:17:56.743Z,1755760676.743 [DAT](INFO): DAT read: user:2176>

2025-08-21T07:17:56.744Z,1755760676.744 [DAT](INFO): DAT read: Tx time:07:17:55.9176

2025-08-21T07:17:56.744Z,1755760676.744 [DAT](INFO): Ping request sent.
2025-08-21T07:17:56.744Z,1755760676.744 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:17:56.744Z,1755760676.744 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:17:56.745Z,1755760676.745 [DAT](INFO): direction in FSK: [0.943090,-0.228158,0.241922]
2025-08-21T07:17:56.746Z,1755760676.746 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:56.746Z,1755760676.746 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:56.749Z,1755760676.749 [DAT](INFO): publishing transmit ping time
2025-08-21T07:17:56.749Z,1755760676.749 [DAT](INFO): publishing direction and range info
2025-08-21T07:17:57.000Z,1755760677.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.099998 m,
      deltaT: 3.527198 s,
      deltaX: -2.100002 m,
      approachRate: -0.595374 m/s,
      rangeRepo size: 4

2025-08-21T07:17:57.002Z,1755760677.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.920580 m,
      bearing: 12.401959 deg,
      lat: 36.779391 deg,
      lon: -121.859385 deg,
      deltaT: 3.527198 s,
      deltaX: -2.089029 m,
      approachRate: -0.592263 m/s,
      posRepo size: 4

2025-08-21T07:17:57.003Z,1755760677.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.92 m.
2025-08-21T07:17:57.010Z,1755760677.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.920580 m,
      nav range: 31.056330 m,
      bearing: 13.108988 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.026313 deg/s,
      cmd heading: 25.048112 deg,
      new cmd heading: 25.078189 deg.

2025-08-21T07:17:57.010Z,1755760677.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437697 target range: 31.920580 and range: 32.10 m.
2025-08-21T07:17:57.423Z,1755760677.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.92 m.
2025-08-21T07:17:57.426Z,1755760677.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.920580 m,
      nav range: 30.811214 m,
      bearing: 13.113634 deg,
      approach rate: -0.573345 m/s,
      LOS rate: 0.010953 deg/s,
      cmd heading: 25.078189 deg,
      new cmd heading: 25.092237 deg.

2025-08-21T07:17:57.426Z,1755760677.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437942 target range: 31.920580 and range: 32.10 m.
2025-08-21T07:17:57.792Z,1755760677.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.92 m.
2025-08-21T07:17:57.795Z,1755760677.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.920580 m,
      nav range: 30.616516 m,
      bearing: 13.117703 deg,
      approach rate: -0.526907 m/s,
      LOS rate: 0.011082 deg/s,
      cmd heading: 25.092237 deg,
      new cmd heading: 25.104522 deg.

2025-08-21T07:17:57.796Z,1755760677.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438157 target range: 31.920580 and range: 32.10 m.
2025-08-21T07:17:58.198Z,1755760678.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:17:58.208Z,1755760678.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.92 m.
2025-08-21T07:17:58.215Z,1755760678.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.920580 m,
      nav range: 30.377523 m,
      bearing: 13.123392 deg,
      approach rate: -0.574209 m/s,
      LOS rate: 0.013777 deg/s,
      cmd heading: 25.104521 deg,
      new cmd heading: 25.121723 deg.

2025-08-21T07:17:58.216Z,1755760678.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438457 target range: 31.920580 and range: 32.10 m.
2025-08-21T07:17:58.240Z,1755760678.240 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:17:58.240Z,1755760678.240 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:17:58.240Z,1755760678.240 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:17:58.492Z,1755760678.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748091
2025-08-21T07:17:58.635Z,1755760678.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.92 m.
2025-08-21T07:17:58.638Z,1755760678.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.920580 m,
      nav range: 30.136963 m,
      bearing: 13.123056 deg,
      approach rate: -0.563940 m/s,
      LOS rate: -0.000794 deg/s,
      cmd heading: 25.121723 deg,
      new cmd heading: 25.120706 deg.

2025-08-21T07:17:58.639Z,1755760678.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438439 target range: 31.920580 and range: 32.10 m.
2025-08-21T07:17:58.744Z,1755760678.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999976
2025-08-21T07:17:58.997Z,1755760678.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252342
2025-08-21T07:17:59.042Z,1755760679.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.92 m.
2025-08-21T07:17:59.063Z,1755760679.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.920580 m,
      nav range: 29.905277 m,
      bearing: 13.122992 deg,
      approach rate: -0.568749 m/s,
      LOS rate: -0.000159 deg/s,
      cmd heading: 25.120707 deg,
      new cmd heading: 25.120513 deg.

2025-08-21T07:17:59.064Z,1755760679.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438436 target range: 31.920580 and range: 32.10 m.
2025-08-21T07:17:59.248Z,1755760679.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504059
2025-08-21T07:17:59.458Z,1755760679.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.92 m.
2025-08-21T07:17:59.461Z,1755760679.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.920580 m,
      nav range: 29.668047 m,
      bearing: 13.122089 deg,
      approach rate: -0.570325 m/s,
      LOS rate: -0.002189 deg/s,
      cmd heading: 25.120512 deg,
      new cmd heading: 25.117781 deg.

2025-08-21T07:17:59.462Z,1755760679.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438388 target range: 31.920580 and range: 32.10 m.
2025-08-21T07:17:59.501Z,1755760679.501 [DAT](INFO): DAT read: Rx Time:07:17:58.3621

2025-08-21T07:17:59.502Z,1755760679.502 [DAT](INFO): Rx dataTimestamp_ set to:1755760679.501040
2025-08-21T07:17:59.503Z,1755760679.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758012
2025-08-21T07:17:59.752Z,1755760679.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008119
2025-08-21T07:17:59.827Z,1755760679.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.92 m.
2025-08-21T07:17:59.830Z,1755760679.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.920580 m,
      nav range: 29.451992 m,
      bearing: 13.121511 deg,
      approach rate: -0.586403 m/s,
      LOS rate: -0.001580 deg/s,
      cmd heading: 25.117780 deg,
      new cmd heading: 25.116033 deg.

2025-08-21T07:17:59.831Z,1755760679.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438357 target range: 31.920580 and range: 32.10 m.
2025-08-21T07:18:00.004Z,1755760680.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260063
2025-08-21T07:18:00.217Z,1755760680.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:00.220Z,1755760680.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.92 m.
2025-08-21T07:18:00.222Z,1755760680.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.920580 m,
      nav range: 29.231071 m,
      bearing: 13.121015 deg,
      approach rate: -0.562515 m/s,
      LOS rate: -0.001272 deg/s,
      cmd heading: 25.116033 deg,
      new cmd heading: 25.114534 deg.

2025-08-21T07:18:00.224Z,1755760680.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438331 target range: 31.920580 and range: 32.10 m.
2025-08-21T07:18:00.264Z,1755760680.264 [DAT](INFO): DAT read: 07:17:58.3621 LVL= 26224, 32049, 20898, 32755, AGC= 59, IDX= 410,-0.02, 1.486, 0.028, 2.144, 1.642, PHS=-0.054,-1.568, 0.458, RAW= 164.1,  12.7, CAL= 164.4,  14.7, ROT= 345.6, -14.7

2025-08-21T07:18:00.265Z,1755760680.265 [DAT](INFO): got valid direction response:
 07:17:58.3621 LVL= 26224, 32049, 20898, 32755, AGC= 59, IDX= 410,-0.02, 1.486, 0.028, 2.144, 1.642, PHS=-0.054,-1.568, 0.458, RAW= 164.1,  12.7, CAL= 164.4,  14.7, ROT= 345.6, -14.7

2025-08-21T07:18:00.266Z,1755760680.266 [DAT](INFO): DAT read: Bearing 200.5, -15.0 (Local)

2025-08-21T07:18:00.266Z,1755760680.266 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.5, -15.0 (Local)

2025-08-21T07:18:00.268Z,1755760680.268 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m  (Round-trip  40.4 ms) speed  0.4 m/s

2025-08-21T07:18:00.269Z,1755760680.269 [DAT](INFO): DAT read: user:2177>

2025-08-21T07:18:00.270Z,1755760680.270 [DAT](INFO): DAT read: Tx time:07:17:59.4675

2025-08-21T07:18:00.271Z,1755760680.271 [DAT](INFO): Ping request sent.
2025-08-21T07:18:00.271Z,1755760680.271 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:00.288Z,1755760680.288 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:00.289Z,1755760680.289 [DAT](INFO): direction in FSK: [0.936879,-0.240550,0.253758]
2025-08-21T07:18:00.290Z,1755760680.290 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:00.290Z,1755760680.290 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:00.313Z,1755760680.313 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:00.313Z,1755760680.313 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:00.658Z,1755760680.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 3.530095 s,
      deltaX: -1.799999 m,
      approachRate: -0.509901 m/s,
      rangeRepo size: 4

2025-08-21T07:18:00.661Z,1755760680.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.130968 m,
      bearing: 11.336492 deg,
      lat: 36.779392 deg,
      lon: -121.859385 deg,
      deltaT: 3.530095 s,
      deltaX: -1.789612 m,
      approachRate: -0.506959 m/s,
      posRepo size: 4

2025-08-21T07:18:00.661Z,1755760680.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-08-21T07:18:00.664Z,1755760680.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.130968 m,
      nav range: 29.091276 m,
      bearing: 13.049448 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001272 deg/s,
      cmd heading: 25.114534 deg,
      new cmd heading: 25.112861 deg.

2025-08-21T07:18:00.665Z,1755760680.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438302 target range: 30.130968 and range: 30.30 m.
2025-08-21T07:18:01.036Z,1755760681.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-08-21T07:18:01.039Z,1755760681.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.130968 m,
      nav range: 28.871727 m,
      bearing: 13.049114 deg,
      approach rate: -0.579920 m/s,
      LOS rate: -0.000889 deg/s,
      cmd heading: 25.112862 deg,
      new cmd heading: 25.111852 deg.

2025-08-21T07:18:01.040Z,1755760681.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438284 target range: 30.130968 and range: 30.30 m.
2025-08-21T07:18:01.469Z,1755760681.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-08-21T07:18:01.472Z,1755760681.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.130968 m,
      nav range: 28.620056 m,
      bearing: 13.044218 deg,
      approach rate: -0.581070 m/s,
      LOS rate: -0.011404 deg/s,
      cmd heading: 25.111851 deg,
      new cmd heading: 25.097034 deg.

2025-08-21T07:18:01.473Z,1755760681.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438026 target range: 30.130968 and range: 30.30 m.
2025-08-21T07:18:01.841Z,1755760681.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-08-21T07:18:01.844Z,1755760681.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.130968 m,
      nav range: 28.404608 m,
      bearing: 13.039587 deg,
      approach rate: -0.579934 m/s,
      LOS rate: -0.012559 deg/s,
      cmd heading: 25.097033 deg,
      new cmd heading: 25.083036 deg.

2025-08-21T07:18:01.845Z,1755760681.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437782 target range: 30.130968 and range: 30.30 m.
2025-08-21T07:18:02.244Z,1755760682.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:02.246Z,1755760682.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-08-21T07:18:02.265Z,1755760682.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.130968 m,
      nav range: 28.170540 m,
      bearing: 13.034046 deg,
      approach rate: -0.578178 m/s,
      LOS rate: -0.013800 deg/s,
      cmd heading: 25.083036 deg,
      new cmd heading: 25.066276 deg.

2025-08-21T07:18:02.266Z,1755760682.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437489 target range: 30.130968 and range: 30.30 m.
2025-08-21T07:18:02.272Z,1755760682.272 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:02.272Z,1755760682.272 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:02.273Z,1755760682.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:02.525Z,1755760682.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254167
2025-08-21T07:18:02.672Z,1755760682.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-08-21T07:18:02.675Z,1755760682.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.130968 m,
      nav range: 27.920204 m,
      bearing: 13.024508 deg,
      approach rate: -0.587376 m/s,
      LOS rate: -0.022581 deg/s,
      cmd heading: 25.066277 deg,
      new cmd heading: 25.037405 deg.

2025-08-21T07:18:02.676Z,1755760682.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436985 target range: 30.130968 and range: 30.30 m.
2025-08-21T07:18:02.777Z,1755760682.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505897
2025-08-21T07:18:03.028Z,1755760683.028 [DAT](INFO): DAT read: Rx Time:07:18:01.9093

2025-08-21T07:18:03.029Z,1755760683.029 [DAT](INFO): Rx dataTimestamp_ set to:1755760683.028592
2025-08-21T07:18:03.029Z,1755760683.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758486
2025-08-21T07:18:03.057Z,1755760683.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-08-21T07:18:03.062Z,1755760683.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.130968 m,
      nav range: 27.694340 m,
      bearing: 13.015957 deg,
      approach rate: -0.587303 m/s,
      LOS rate: -0.022417 deg/s,
      cmd heading: 25.037406 deg,
      new cmd heading: 25.011543 deg.

2025-08-21T07:18:03.063Z,1755760683.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436534 target range: 30.130968 and range: 30.30 m.
2025-08-21T07:18:03.280Z,1755760683.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009233
2025-08-21T07:18:03.532Z,1755760683.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261378
2025-08-21T07:18:03.536Z,1755760683.536 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022611052209,35.0, +10.6,   0.,  0
2025-08-21T07:18:03.630Z,1755760683.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m.
2025-08-21T07:18:03.637Z,1755760683.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.130968 m,
      nav range: 27.380676 m,
      bearing: 13.003435 deg,
      approach rate: -0.546983 m/s,
      LOS rate: -0.022087 deg/s,
      cmd heading: 25.011543 deg,
      new cmd heading: 24.973547 deg.

2025-08-21T07:18:03.638Z,1755760683.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435871 target range: 30.130968 and range: 30.30 m.
2025-08-21T07:18:03.793Z,1755760683.793 [DAT](INFO): DAT read: 07:18:01.9093 LVL= 30960, 32465, 21682, 32755, AGC= 59, IDX= 414,-0.05, 2.141, 0.684, 2.827, 2.318, PHS=-0.074,-1.589, 0.465, RAW= 164.7,  12.9, CAL= 165.1,  15.1, ROT= 344.9, -15.1

2025-08-21T07:18:03.794Z,1755760683.794 [DAT](INFO): got valid direction response:
 07:18:01.9093 LVL= 30960, 32465, 21682, 32755, AGC= 59, IDX= 414,-0.05, 2.141, 0.684, 2.827, 2.318, PHS=-0.074,-1.589, 0.465, RAW= 164.7,  12.9, CAL= 165.1,  15.1, ROT= 344.9, -15.1

2025-08-21T07:18:03.795Z,1755760683.795 [DAT](INFO): DAT read: Bearing 201.2, -16.5 (Local)

2025-08-21T07:18:03.812Z,1755760683.812 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.2, -16.5 (Local)

2025-08-21T07:18:03.813Z,1755760683.813 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m  (Round-trip  37.6 ms) speed  0.5 m/s

2025-08-21T07:18:03.814Z,1755760683.814 [DAT](INFO): DAT read: user:2178>

2025-08-21T07:18:03.815Z,1755760683.815 [DAT](INFO): DAT read: Tx time:07:18:03.0175

2025-08-21T07:18:03.819Z,1755760683.819 [DAT](INFO): Ping request sent.
2025-08-21T07:18:03.820Z,1755760683.820 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:03.820Z,1755760683.820 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:03.822Z,1755760683.822 [DAT](INFO): direction in FSK: [0.932137,-0.251510,0.260505]
2025-08-21T07:18:03.822Z,1755760683.822 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:03.823Z,1755760683.823 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:03.841Z,1755760683.841 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:03.841Z,1755760683.841 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:04.106Z,1755760684.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 3.528060 s,
      deltaX: -2.099998 m,
      approachRate: -0.595228 m/s,
      rangeRepo size: 4

2025-08-21T07:18:04.108Z,1755760684.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.042879 m,
      bearing: 10.755378 deg,
      lat: 36.779393 deg,
      lon: -121.859389 deg,
      deltaT: 3.528060 s,
      deltaX: -2.088089 m,
      approachRate: -0.591852 m/s,
      posRepo size: 4

2025-08-21T07:18:04.109Z,1755760684.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-08-21T07:18:04.112Z,1755760684.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042879 m,
      nav range: 27.033100 m,
      bearing: 12.240858 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022087 deg/s,
      cmd heading: 24.973547 deg,
      new cmd heading: 24.942044 deg.

2025-08-21T07:18:04.113Z,1755760684.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435321 target range: 28.042879 and range: 28.20 m.
2025-08-21T07:18:04.628Z,1755760684.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:04.630Z,1755760684.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-08-21T07:18:04.634Z,1755760684.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042879 m,
      nav range: 26.719357 m,
      bearing: 12.223713 deg,
      approach rate: -0.597557 m/s,
      LOS rate: -0.033038 deg/s,
      cmd heading: 24.942044 deg,
      new cmd heading: 24.890005 deg.

2025-08-21T07:18:04.635Z,1755760684.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434413 target range: 28.042879 and range: 28.20 m.
2025-08-21T07:18:04.792Z,1755760684.792 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:04.792Z,1755760684.792 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:04.792Z,1755760684.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:04.932Z,1755760684.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:18:05.004Z,1755760685.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-08-21T07:18:05.009Z,1755760685.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042879 m,
      nav range: 26.497095 m,
      bearing: 12.210946 deg,
      approach rate: -0.594325 m/s,
      LOS rate: -0.034425 deg/s,
      cmd heading: 24.890005 deg,
      new cmd heading: 24.851383 deg.

2025-08-21T07:18:05.010Z,1755760685.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433738 target range: 28.042879 and range: 28.20 m.
2025-08-21T07:18:05.044Z,1755760685.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.229236
2025-08-21T07:18:05.296Z,1755760685.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481129
2025-08-21T07:18:05.477Z,1755760685.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-08-21T07:18:05.483Z,1755760685.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042879 m,
      nav range: 26.231617 m,
      bearing: 12.195208 deg,
      approach rate: -0.562348 m/s,
      LOS rate: -0.033675 deg/s,
      cmd heading: 24.851384 deg,
      new cmd heading: 24.803692 deg.

2025-08-21T07:18:05.484Z,1755760685.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432906 target range: 28.042879 and range: 28.20 m.
2025-08-21T07:18:05.549Z,1755760685.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733818
2025-08-21T07:18:05.800Z,1755760685.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985197
2025-08-21T07:18:05.838Z,1755760685.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-08-21T07:18:05.859Z,1755760685.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042879 m,
      nav range: 26.008574 m,
      bearing: 12.181088 deg,
      approach rate: -0.616820 m/s,
      LOS rate: -0.039382 deg/s,
      cmd heading: 24.803692 deg,
      new cmd heading: 24.760970 deg.

2025-08-21T07:18:05.862Z,1755760685.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432160 target range: 28.042879 and range: 28.20 m.
2025-08-21T07:18:05.936Z,1755760685.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:18:06.054Z,1755760686.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.239200
2025-08-21T07:18:06.229Z,1755760686.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-08-21T07:18:06.232Z,1755760686.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042879 m,
      nav range: 25.783812 m,
      bearing: 12.166406 deg,
      approach rate: -0.575211 m/s,
      LOS rate: -0.037903 deg/s,
      cmd heading: 24.760971 deg,
      new cmd heading: 24.716540 deg.

2025-08-21T07:18:06.233Z,1755760686.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431385 target range: 28.042879 and range: 28.20 m.
2025-08-21T07:18:06.308Z,1755760686.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.493370
2025-08-21T07:18:06.560Z,1755760686.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745362
2025-08-21T07:18:06.658Z,1755760686.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:06.661Z,1755760686.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-08-21T07:18:06.664Z,1755760686.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042879 m,
      nav range: 25.532732 m,
      bearing: 12.149057 deg,
      approach rate: -0.581395 m/s,
      LOS rate: -0.040568 deg/s,
      cmd heading: 24.716540 deg,
      new cmd heading: 24.663982 deg.

2025-08-21T07:18:06.665Z,1755760686.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430468 target range: 28.042879 and range: 28.20 m.
2025-08-21T07:18:06.812Z,1755760686.812 [DAT](INFO): DAT read: Rx Time:07:18:05.4565

2025-08-21T07:18:06.813Z,1755760686.813 [DAT](INFO): Rx dataTimestamp_ set to:1755760686.812468
2025-08-21T07:18:06.813Z,1755760686.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998197
2025-08-21T07:18:07.032Z,1755760687.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m.
2025-08-21T07:18:07.034Z,1755760687.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.042879 m,
      nav range: 25.317972 m,
      bearing: 12.133670 deg,
      approach rate: -0.578641 m/s,
      LOS rate: -0.041809 deg/s,
      cmd heading: 24.663982 deg,
      new cmd heading: 24.617430 deg.

2025-08-21T07:18:07.037Z,1755760687.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429655 target range: 28.042879 and range: 28.20 m.
2025-08-21T07:18:07.077Z,1755760687.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262108
2025-08-21T07:18:07.334Z,1755760687.334 [DAT](INFO): DAT read: 07:18:05.4565 LVL= 28304, 32753, 22674, 32755, AGC= 57, IDX= 417,-0.41, 0.431,-0.986, 1.148, 0.632, PHS=-0.098,-1.573, 0.472, RAW= 165.7,  13.1, CAL= 166.1,  15.4, ROT= 343.9, -15.4

2025-08-21T07:18:07.335Z,1755760687.335 [DAT](INFO): got valid direction response:
 07:18:05.4565 LVL= 28304, 32753, 22674, 32755, AGC= 57, IDX= 417,-0.41, 0.431,-0.986, 1.148, 0.632, PHS=-0.098,-1.573, 0.472, RAW= 165.7,  13.1, CAL= 166.1,  15.4, ROT= 343.9, -15.4

2025-08-21T07:18:07.336Z,1755760687.336 [DAT](INFO): DAT read: Bearing 201.8, -18.0 (Local)

2025-08-21T07:18:07.336Z,1755760687.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 201.8, -18.0 (Local)

2025-08-21T07:18:07.338Z,1755760687.338 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m  (Round-trip  34.8 ms) speed  0.5 m/s

2025-08-21T07:18:07.339Z,1755760687.339 [DAT](INFO): DAT read: user:2179>

2025-08-21T07:18:07.349Z,1755760687.349 [DAT](INFO): DAT read: Tx time:07:18:06.5691

2025-08-21T07:18:07.349Z,1755760687.349 [DAT](INFO): Ping request sent.
2025-08-21T07:18:07.349Z,1755760687.349 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:07.350Z,1755760687.350 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:07.353Z,1755760687.353 [DAT](INFO): direction in FSK: [0.926283,-0.267358,0.265556]
2025-08-21T07:18:07.353Z,1755760687.353 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:07.354Z,1755760687.354 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:07.385Z,1755760687.385 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:07.385Z,1755760687.385 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:07.590Z,1755760687.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.100000 m,
      deltaT: 3.541879 s,
      deltaX: -2.100000 m,
      approachRate: -0.592906 m/s,
      rangeRepo size: 4

2025-08-21T07:18:07.596Z,1755760687.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.954870 m,
      bearing: 10.020844 deg,
      lat: 36.779397 deg,
      lon: -121.859394 deg,
      deltaT: 3.541879 s,
      deltaX: -2.088009 m,
      approachRate: -0.589520 m/s,
      posRepo size: 4

2025-08-21T07:18:07.597Z,1755760687.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m.
2025-08-21T07:18:07.604Z,1755760687.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.954870 m,
      nav range: 25.368097 m,
      bearing: 10.942433 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041809 deg/s,
      cmd heading: 24.617429 deg,
      new cmd heading: 24.547530 deg.

2025-08-21T07:18:07.605Z,1755760687.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428435 target range: 25.954870 and range: 26.10 m.
2025-08-21T07:18:07.946Z,1755760687.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m.
2025-08-21T07:18:07.948Z,1755760687.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.954870 m,
      nav range: 25.160099 m,
      bearing: 10.919979 deg,
      approach rate: -0.583711 m/s,
      LOS rate: -0.063534 deg/s,
      cmd heading: 24.547531 deg,
      new cmd heading: 24.479612 deg.

2025-08-21T07:18:07.949Z,1755760687.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427250 target range: 25.954870 and range: 26.10 m.
2025-08-21T07:18:08.334Z,1755760688.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m.
2025-08-21T07:18:08.338Z,1755760688.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.954870 m,
      nav range: 24.925894 m,
      bearing: 10.894263 deg,
      approach rate: -0.602412 m/s,
      LOS rate: -0.066766 deg/s,
      cmd heading: 24.479611 deg,
      new cmd heading: 24.401740 deg.

2025-08-21T07:18:08.339Z,1755760688.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425891 target range: 25.954870 and range: 26.10 m.
2025-08-21T07:18:08.763Z,1755760688.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:08.765Z,1755760688.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m.
2025-08-21T07:18:08.768Z,1755760688.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.954870 m,
      nav range: 24.677828 m,
      bearing: 10.863713 deg,
      approach rate: -0.575779 m/s,
      LOS rate: -0.071623 deg/s,
      cmd heading: 24.401739 deg,
      new cmd heading: 24.309166 deg.

2025-08-21T07:18:08.769Z,1755760688.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424275 target range: 25.954870 and range: 26.10 m.
2025-08-21T07:18:08.841Z,1755760688.841 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:08.841Z,1755760688.841 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:08.842Z,1755760688.842 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:09.092Z,1755760689.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742944
2025-08-21T07:18:09.181Z,1755760689.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m.
2025-08-21T07:18:09.189Z,1755760689.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.954870 m,
      nav range: 24.446598 m,
      bearing: 10.834938 deg,
      approach rate: -0.555664 m/s,
      LOS rate: -0.069802 deg/s,
      cmd heading: 24.309166 deg,
      new cmd heading: 24.222026 deg.

2025-08-21T07:18:09.190Z,1755760689.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422754 target range: 25.954870 and range: 26.10 m.
2025-08-21T07:18:09.346Z,1755760689.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995937
2025-08-21T07:18:09.596Z,1755760689.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246974
2025-08-21T07:18:09.639Z,1755760689.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m.
2025-08-21T07:18:09.642Z,1755760689.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.954870 m,
      nav range: 24.202892 m,
      bearing: 10.812686 deg,
      approach rate: -0.532649 m/s,
      LOS rate: -0.049123 deg/s,
      cmd heading: 24.222026 deg,
      new cmd heading: 24.154599 deg.

2025-08-21T07:18:09.643Z,1755760689.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421577 target range: 25.954870 and range: 26.10 m.
2025-08-21T07:18:09.849Z,1755760689.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499348
2025-08-21T07:18:09.957Z,1755760689.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m.
2025-08-21T07:18:09.960Z,1755760689.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.954870 m,
      nav range: 24.002251 m,
      bearing: 10.793872 deg,
      approach rate: -0.630695 m/s,
      LOS rate: -0.059637 deg/s,
      cmd heading: 24.154599 deg,
      new cmd heading: 24.097682 deg.

2025-08-21T07:18:09.961Z,1755760689.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420584 target range: 25.954870 and range: 26.10 m.
2025-08-21T07:18:10.100Z,1755760690.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750853
2025-08-21T07:18:10.353Z,1755760690.353 [DAT](INFO): DAT read: Rx Time:07:18:09.0053

2025-08-21T07:18:10.354Z,1755760690.354 [DAT](INFO): Rx dataTimestamp_ set to:1755760690.353058
2025-08-21T07:18:10.355Z,1755760690.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005570
2025-08-21T07:18:10.400Z,1755760690.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m.
2025-08-21T07:18:10.403Z,1755760690.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.954870 m,
      nav range: 23.753313 m,
      bearing: 10.770126 deg,
      approach rate: -0.562674 m/s,
      LOS rate: -0.054234 deg/s,
      cmd heading: 24.097683 deg,
      new cmd heading: 24.025700 deg.

2025-08-21T07:18:10.404Z,1755760690.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419328 target range: 25.954870 and range: 26.10 m.
2025-08-21T07:18:10.605Z,1755760690.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255620
2025-08-21T07:18:10.777Z,1755760690.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:10.779Z,1755760690.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m.
2025-08-21T07:18:10.782Z,1755760690.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.954870 m,
      nav range: 23.535509 m,
      bearing: 10.750431 deg,
      approach rate: -0.573600 m/s,
      LOS rate: -0.052349 deg/s,
      cmd heading: 24.025701 deg,
      new cmd heading: 23.966068 deg.

2025-08-21T07:18:10.783Z,1755760690.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418287 target range: 25.954870 and range: 26.10 m.
2025-08-21T07:18:10.867Z,1755760690.867 [DAT](INFO): DAT read: 07:18:09.0053 LVL= 28144, 28753, 20242, 32755, AGC= 57, IDX= 421, 0.06, 2.373, 0.935, 3.113, 2.589, PHS=-0.114,-1.609, 0.479, RAW= 166.0,  13.3, CAL= 166.4,  15.7, ROT= 343.6, -15.7

2025-08-21T07:18:10.868Z,1755760690.868 [DAT](INFO): got valid direction response:
 07:18:09.0053 LVL= 28144, 28753, 20242, 32755, AGC= 57, IDX= 421, 0.06, 2.373, 0.935, 3.113, 2.589, PHS=-0.114,-1.609, 0.479, RAW= 166.0,  13.3, CAL= 166.4,  15.7, ROT= 343.6, -15.7

2025-08-21T07:18:10.869Z,1755760690.869 [DAT](INFO): DAT read: Bearing 202.1, -18.6 (Local)

2025-08-21T07:18:10.870Z,1755760690.870 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.1, -18.6 (Local)

2025-08-21T07:18:10.871Z,1755760690.871 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m  (Round-trip  32.1 ms) speed  0.4 m/s

2025-08-21T07:18:10.872Z,1755760690.872 [DAT](INFO): DAT read: user:2180>

2025-08-21T07:18:10.873Z,1755760690.873 [DAT](INFO): DAT read: Tx time:07:18:10.1191

2025-08-21T07:18:10.873Z,1755760690.873 [DAT](INFO): Ping request sent.
2025-08-21T07:18:10.873Z,1755760690.873 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:10.874Z,1755760690.874 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:10.874Z,1755760690.874 [DAT](INFO): direction in FSK: [0.923524,-0.271808,0.270600]
2025-08-21T07:18:10.875Z,1755760690.875 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:10.875Z,1755760690.875 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:10.878Z,1755760690.878 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:10.878Z,1755760690.878 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:11.241Z,1755760691.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.000000 m,
      deltaT: 3.528805 s,
      deltaX: -2.100000 m,
      approachRate: -0.595102 m/s,
      rangeRepo size: 4

2025-08-21T07:18:11.243Z,1755760691.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.866682 m,
      bearing: 9.827643 deg,
      lat: 36.779397 deg,
      lon: -121.859396 deg,
      deltaT: 3.528805 s,
      deltaX: -2.088188 m,
      approachRate: -0.591755 m/s,
      posRepo size: 4

2025-08-21T07:18:11.244Z,1755760691.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T07:18:11.246Z,1755760691.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.866682 m,
      nav range: 23.315504 m,
      bearing: 10.258665 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.052349 deg/s,
      cmd heading: 23.966068 deg,
      new cmd heading: 23.893647 deg.

2025-08-21T07:18:11.247Z,1755760691.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417023 target range: 23.866682 and range: 24.00 m.
2025-08-21T07:18:11.674Z,1755760691.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T07:18:11.677Z,1755760691.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.866682 m,
      nav range: 23.068319 m,
      bearing: 10.235693 deg,
      approach rate: -0.569589 m/s,
      LOS rate: -0.053502 deg/s,
      cmd heading: 23.893648 deg,
      new cmd heading: 23.823993 deg.

2025-08-21T07:18:11.678Z,1755760691.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415807 target range: 23.866682 and range: 24.00 m.
2025-08-21T07:18:12.124Z,1755760692.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T07:18:12.127Z,1755760692.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.866682 m,
      nav range: 22.820936 m,
      bearing: 10.212510 deg,
      approach rate: -0.549838 m/s,
      LOS rate: -0.052086 deg/s,
      cmd heading: 23.823994 deg,
      new cmd heading: 23.753690 deg.

2025-08-21T07:18:12.132Z,1755760692.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414580 target range: 23.866682 and range: 24.00 m.
2025-08-21T07:18:12.553Z,1755760692.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T07:18:12.576Z,1755760692.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.866682 m,
      nav range: 22.591028 m,
      bearing: 10.190679 deg,
      approach rate: -0.564389 m/s,
      LOS rate: -0.054137 deg/s,
      cmd heading: 23.753690 deg,
      new cmd heading: 23.687531 deg.

2025-08-21T07:18:12.584Z,1755760692.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413425 target range: 23.866682 and range: 24.00 m.
2025-08-21T07:18:12.955Z,1755760692.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:12.958Z,1755760692.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T07:18:12.961Z,1755760692.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.866682 m,
      nav range: 22.344538 m,
      bearing: 10.175469 deg,
      approach rate: -0.578529 m/s,
      LOS rate: -0.036091 deg/s,
      cmd heading: 23.687531 deg,
      new cmd heading: 23.641400 deg.

2025-08-21T07:18:12.962Z,1755760692.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412620 target range: 23.866682 and range: 24.00 m.
2025-08-21T07:18:13.128Z,1755760693.128 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:13.128Z,1755760693.128 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:13.128Z,1755760693.128 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:13.323Z,1755760693.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T07:18:13.326Z,1755760693.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.866682 m,
      nav range: 22.138710 m,
      bearing: 10.163323 deg,
      approach rate: -0.563408 m/s,
      LOS rate: -0.033557 deg/s,
      cmd heading: 23.641400 deg,
      new cmd heading: 23.604623 deg.

2025-08-21T07:18:13.327Z,1755760693.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411978 target range: 23.866682 and range: 24.00 m.
2025-08-21T07:18:13.385Z,1755760693.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511906
2025-08-21T07:18:13.636Z,1755760693.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763004
2025-08-21T07:18:13.747Z,1755760693.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T07:18:13.750Z,1755760693.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.866682 m,
      nav range: 21.894157 m,
      bearing: 10.133522 deg,
      approach rate: -0.576941 m/s,
      LOS rate: -0.071090 deg/s,
      cmd heading: 23.604623 deg,
      new cmd heading: 23.514223 deg.

2025-08-21T07:18:13.751Z,1755760693.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.410401 target range: 23.866682 and range: 24.00 m.
2025-08-21T07:18:13.888Z,1755760693.888 [DAT](INFO): DAT read: Rx Time:07:18:12.5528

2025-08-21T07:18:13.889Z,1755760693.889 [DAT](INFO): Rx dataTimestamp_ set to:1755760693.888421
2025-08-21T07:18:13.889Z,1755760693.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016003
2025-08-21T07:18:14.134Z,1755760694.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m.
2025-08-21T07:18:14.137Z,1755760694.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.866682 m,
      nav range: 21.670588 m,
      bearing: 10.106332 deg,
      approach rate: -0.576944 m/s,
      LOS rate: -0.070892 deg/s,
      cmd heading: 23.514224 deg,
      new cmd heading: 23.431810 deg.

2025-08-21T07:18:14.138Z,1755760694.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.408962 target range: 23.866682 and range: 24.00 m.
2025-08-21T07:18:14.141Z,1755760694.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267728
2025-08-21T07:18:14.401Z,1755760694.401 [DAT](INFO): DAT read: 07:18:12.5528 LVL= 25456, 31169, 19314, 32755, AGC= 56, IDX= 411,-0.14,-0.833,-2.234,-0.085,-0.597, PHS=-0.135,-1.593, 0.468, RAW= 166.5,  13.6, CAL= 167.0,  16.3, ROT= 343.0, -16.3

2025-08-21T07:18:14.404Z,1755760694.404 [DAT](INFO): got valid direction response:
 07:18:12.5528 LVL= 25456, 31169, 19314, 32755, AGC= 56, IDX= 411,-0.14,-0.833,-2.234,-0.085,-0.597, PHS=-0.135,-1.593, 0.468, RAW= 166.5,  13.6, CAL= 167.0,  16.3, ROT= 343.0, -16.3

2025-08-21T07:18:14.405Z,1755760694.405 [DAT](INFO): DAT read: Bearing 202.5, -19.1 (Local)

2025-08-21T07:18:14.406Z,1755760694.406 [DAT](INFO): Local bearing/azimuth received:
 Bearing 202.5, -19.1 (Local)

2025-08-21T07:18:14.407Z,1755760694.407 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m  (Round-trip  29.5 ms) speed  0.4 m/s

2025-08-21T07:18:14.408Z,1755760694.408 [DAT](INFO): DAT read: user:2181>

2025-08-21T07:18:14.409Z,1755760694.409 [DAT](INFO): DAT read: Tx time:07:18:13.6675

2025-08-21T07:18:14.409Z,1755760694.409 [DAT](INFO): Ping request sent.
2025-08-21T07:18:14.409Z,1755760694.409 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:14.409Z,1755760694.409 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:14.410Z,1755760694.410 [DAT](INFO): direction in FSK: [0.917866,-0.280620,0.280667]
2025-08-21T07:18:14.411Z,1755760694.411 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:14.411Z,1755760694.411 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:14.414Z,1755760694.414 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:14.414Z,1755760694.414 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:14.628Z,1755760694.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.100000 m,
      deltaT: 3.536497 s,
      deltaX: -1.900000 m,
      approachRate: -0.537255 m/s,
      rangeRepo size: 4

2025-08-21T07:18:14.630Z,1755760694.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.977627 m,
      bearing: 9.013789 deg,
      lat: 36.779398 deg,
      lon: -121.859398 deg,
      deltaT: 3.536497 s,
      deltaX: -1.889055 m,
      approachRate: -0.534160 m/s,
      posRepo size: 4

2025-08-21T07:18:14.631Z,1755760694.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T07:18:14.638Z,1755760694.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.977627 m,
      nav range: 21.427225 m,
      bearing: 9.623780 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.070892 deg/s,
      cmd heading: 23.431811 deg,
      new cmd heading: 23.327963 deg.

2025-08-21T07:18:14.639Z,1755760694.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.407150 target range: 21.977627 and range: 22.10 m.
2025-08-21T07:18:14.987Z,1755760694.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:14.989Z,1755760694.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T07:18:14.992Z,1755760694.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.977627 m,
      nav range: 21.198757 m,
      bearing: 9.591157 deg,
      approach rate: -0.622596 m/s,
      LOS rate: -0.089858 deg/s,
      cmd heading: 23.327963 deg,
      new cmd heading: 23.229040 deg.

2025-08-21T07:18:14.993Z,1755760694.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.405423 target range: 21.977627 and range: 22.10 m.
2025-08-21T07:18:15.148Z,1755760695.148 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:15.148Z,1755760695.148 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:15.149Z,1755760695.149 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:15.371Z,1755760695.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T07:18:15.373Z,1755760695.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.977627 m,
      nav range: 20.973269 m,
      bearing: 9.558822 deg,
      approach rate: -0.591627 m/s,
      LOS rate: -0.085754 deg/s,
      cmd heading: 23.229040 deg,
      new cmd heading: 23.130989 deg.

2025-08-21T07:18:15.374Z,1755760695.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.403712 target range: 21.977627 and range: 22.10 m.
2025-08-21T07:18:15.400Z,1755760695.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991116
2025-08-21T07:18:15.652Z,1755760695.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242985
2025-08-21T07:18:15.801Z,1755760695.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T07:18:15.808Z,1755760695.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.977627 m,
      nav range: 20.736814 m,
      bearing: 9.534114 deg,
      approach rate: -0.549045 m/s,
      LOS rate: -0.058025 deg/s,
      cmd heading: 23.130989 deg,
      new cmd heading: 23.056021 deg.

2025-08-21T07:18:15.809Z,1755760695.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.402403 target range: 21.977627 and range: 22.10 m.
2025-08-21T07:18:15.905Z,1755760695.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495693
2025-08-21T07:18:16.157Z,1755760696.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747632
2025-08-21T07:18:16.208Z,1755760696.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T07:18:16.211Z,1755760696.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.977627 m,
      nav range: 20.519615 m,
      bearing: 9.511524 deg,
      approach rate: -0.533469 m/s,
      LOS rate: -0.056072 deg/s,
      cmd heading: 23.056021 deg,
      new cmd heading: 22.987532 deg.

2025-08-21T07:18:16.212Z,1755760696.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.401208 target range: 21.977627 and range: 22.10 m.
2025-08-21T07:18:16.408Z,1755760696.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999015
2025-08-21T07:18:16.603Z,1755760696.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T07:18:16.634Z,1755760696.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.977627 m,
      nav range: 20.291054 m,
      bearing: 9.487608 deg,
      approach rate: -0.581680 m/s,
      LOS rate: -0.061549 deg/s,
      cmd heading: 22.987533 deg,
      new cmd heading: 22.914979 deg.

2025-08-21T07:18:16.642Z,1755760696.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.399942 target range: 21.977627 and range: 22.10 m.
2025-08-21T07:18:16.660Z,1755760696.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251201
2025-08-21T07:18:16.912Z,1755760696.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503034
2025-08-21T07:18:17.039Z,1755760697.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:17.041Z,1755760697.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T07:18:17.044Z,1755760697.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.977627 m,
      nav range: 20.028126 m,
      bearing: 9.468943 deg,
      approach rate: -0.597596 m/s,
      LOS rate: -0.042980 deg/s,
      cmd heading: 22.914979 deg,
      new cmd heading: 22.858248 deg.

2025-08-21T07:18:17.045Z,1755760697.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.398952 target range: 21.977627 and range: 22.10 m.
2025-08-21T07:18:17.169Z,1755760697.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759964
2025-08-21T07:18:17.416Z,1755760697.416 [DAT](INFO): DAT read: Rx Time:07:18:16.0985

2025-08-21T07:18:17.417Z,1755760697.417 [DAT](INFO): Rx dataTimestamp_ set to:1755760697.416643
2025-08-21T07:18:17.417Z,1755760697.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008299
2025-08-21T07:18:17.424Z,1755760697.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T07:18:17.431Z,1755760697.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.977627 m,
      nav range: 19.822510 m,
      bearing: 9.455000 deg,
      approach rate: -0.536699 m/s,
      LOS rate: -0.036771 deg/s,
      cmd heading: 22.858247 deg,
      new cmd heading: 22.815985 deg.

2025-08-21T07:18:17.432Z,1755760697.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.398214 target range: 21.977627 and range: 22.10 m.
2025-08-21T07:18:17.668Z,1755760697.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259093
2025-08-21T07:18:17.900Z,1755760697.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.98 m.
2025-08-21T07:18:17.902Z,1755760697.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.977627 m,
      nav range: 19.546001 m,
      bearing: 9.412779 deg,
      approach rate: -0.584037 m/s,
      LOS rate: -0.090440 deg/s,
      cmd heading: 22.815984 deg,
      new cmd heading: 22.687529 deg.

2025-08-21T07:18:17.903Z,1755760697.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.395972 target range: 21.977627 and range: 22.10 m.
2025-08-21T07:18:17.926Z,1755760697.926 [DAT](INFO): DAT read: 07:18:16.0985 LVL= 27568, 29921, 19426, 32755, AGC= 55, IDX= 415,-0.04,-1.283,-2.685,-0.534,-1.017, PHS=-0.165,-1.623, 0.438, RAW= 166.5,  14.6, CAL= 167.1,  17.6, ROT= 342.9, -17.6

2025-08-21T07:18:17.927Z,1755760697.927 [DAT](INFO): got valid direction response:
 07:18:16.0985 LVL= 27568, 29921, 19426, 32755, AGC= 55, IDX= 415,-0.04,-1.283,-2.685,-0.534,-1.017, PHS=-0.165,-1.623, 0.438, RAW= 166.5,  14.6, CAL= 167.1,  17.6, ROT= 342.9, -17.6

2025-08-21T07:18:17.928Z,1755760697.928 [DAT](INFO): DAT read: Bearing 203.4, -18.8 (Local)

2025-08-21T07:18:17.928Z,1755760697.928 [DAT](INFO): Local bearing/azimuth received:
 Bearing 203.4, -18.8 (Local)

2025-08-21T07:18:17.930Z,1755760697.930 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m  (Round-trip  26.8 ms) speed  0.5 m/s

2025-08-21T07:18:17.931Z,1755760697.931 [DAT](INFO): DAT read: user:2182>

2025-08-21T07:18:17.931Z,1755760697.931 [DAT](INFO): DAT read: Tx time:07:18:17.2175

2025-08-21T07:18:17.932Z,1755760697.932 [DAT](INFO): Ping request sent.
2025-08-21T07:18:17.932Z,1755760697.932 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:17.932Z,1755760697.932 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:17.933Z,1755760697.933 [DAT](INFO): direction in FSK: [0.911053,-0.280276,0.302370]
2025-08-21T07:18:17.933Z,1755760697.933 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:17.934Z,1755760697.934 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:17.957Z,1755760697.957 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:17.957Z,1755760697.957 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:18.312Z,1755760698.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.100000 m,
      deltaT: 3.526768 s,
      deltaX: -2.000000 m,
      approachRate: -0.567091 m/s,
      rangeRepo size: 4

2025-08-21T07:18:18.320Z,1755760698.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.988953 m,
      bearing: 8.627708 deg,
      lat: 36.779398 deg,
      lon: -121.859398 deg,
      deltaT: 3.526768 s,
      deltaX: -1.988674 m,
      approachRate: -0.563880 m/s,
      posRepo size: 4

2025-08-21T07:18:18.322Z,1755760698.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m.
2025-08-21T07:18:18.330Z,1755760698.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.988953 m,
      nav range: 19.340014 m,
      bearing: 9.211331 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.090440 deg/s,
      cmd heading: 22.687529 deg,
      new cmd heading: 22.576522 deg.

2025-08-21T07:18:18.336Z,1755760698.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.394035 target range: 19.988953 and range: 20.10 m.
2025-08-21T07:18:18.733Z,1755760698.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m.
2025-08-21T07:18:18.735Z,1755760698.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.988953 m,
      nav range: 19.085943 m,
      bearing: 9.170784 deg,
      approach rate: -0.597055 m/s,
      LOS rate: -0.096552 deg/s,
      cmd heading: 22.576521 deg,
      new cmd heading: 22.453261 deg.

2025-08-21T07:18:18.736Z,1755760698.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.391883 target range: 19.988953 and range: 20.10 m.
2025-08-21T07:18:19.066Z,1755760699.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:19.068Z,1755760699.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m.
2025-08-21T07:18:19.071Z,1755760699.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.988953 m,
      nav range: 18.892849 m,
      bearing: 9.139741 deg,
      approach rate: -0.574933 m/s,
      LOS rate: -0.093376 deg/s,
      cmd heading: 22.453262 deg,
      new cmd heading: 22.359179 deg.

2025-08-21T07:18:19.072Z,1755760699.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.390241 target range: 19.988953 and range: 20.10 m.
2025-08-21T07:18:19.181Z,1755760699.181 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:19.181Z,1755760699.181 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:19.181Z,1755760699.181 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:19.432Z,1755760699.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500325
2025-08-21T07:18:19.489Z,1755760699.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m.
2025-08-21T07:18:19.496Z,1755760699.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.988953 m,
      nav range: 18.660971 m,
      bearing: 9.102103 deg,
      approach rate: -0.550960 m/s,
      LOS rate: -0.090541 deg/s,
      cmd heading: 22.359179 deg,
      new cmd heading: 22.244863 deg.

2025-08-21T07:18:19.497Z,1755760699.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.388246 target range: 19.988953 and range: 20.10 m.
2025-08-21T07:18:19.688Z,1755760699.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756348
2025-08-21T07:18:19.898Z,1755760699.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m.
2025-08-21T07:18:19.901Z,1755760699.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.988953 m,
      nav range: 18.415699 m,
      bearing: 9.064461 deg,
      approach rate: -0.600107 m/s,
      LOS rate: -0.093326 deg/s,
      cmd heading: 22.244862 deg,
      new cmd heading: 22.130432 deg.

2025-08-21T07:18:19.902Z,1755760699.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.386249 target range: 19.988953 and range: 20.10 m.
2025-08-21T07:18:19.936Z,1755760699.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004392
2025-08-21T07:18:20.191Z,1755760700.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259611
2025-08-21T07:18:20.292Z,1755760700.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m.
2025-08-21T07:18:20.295Z,1755760700.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.988953 m,
      nav range: 18.189341 m,
      bearing: 9.029523 deg,
      approach rate: -0.574164 m/s,
      LOS rate: -0.089724 deg/s,
      cmd heading: 22.130433 deg,
      new cmd heading: 22.024315 deg.

2025-08-21T07:18:20.296Z,1755760700.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.384397 target range: 19.988953 and range: 20.10 m.
2025-08-21T07:18:20.440Z,1755760700.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508363
2025-08-21T07:18:20.695Z,1755760700.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762594
2025-08-21T07:18:20.770Z,1755760700.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m.
2025-08-21T07:18:20.777Z,1755760700.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.988953 m,
      nav range: 17.923891 m,
      bearing: 8.975342 deg,
      approach rate: -0.559034 m/s,
      LOS rate: -0.115794 deg/s,
      cmd heading: 22.024316 deg,
      new cmd heading: 21.859366 deg.

2025-08-21T07:18:20.778Z,1755760700.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.381518 target range: 19.988953 and range: 20.10 m.
2025-08-21T07:18:20.944Z,1755760700.944 [DAT](INFO): DAT read: Rx Time:07:18:19.6458

2025-08-21T07:18:20.945Z,1755760700.945 [DAT](INFO): Rx dataTimestamp_ set to:1755760700.944682
2025-08-21T07:18:20.946Z,1755760700.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013659
2025-08-21T07:18:21.115Z,1755760701.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:21.117Z,1755760701.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.99 m.
2025-08-21T07:18:21.120Z,1755760701.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.988953 m,
      nav range: 17.710461 m,
      bearing: 8.931384 deg,
      approach rate: -0.609507 m/s,
      LOS rate: -0.127047 deg/s,
      cmd heading: 21.859366 deg,
      new cmd heading: 21.725903 deg.

2025-08-21T07:18:21.121Z,1755760701.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.379189 target range: 19.988953 and range: 20.10 m.
2025-08-21T07:18:21.197Z,1755760701.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264993
2025-08-21T07:18:21.454Z,1755760701.454 [DAT](INFO): DAT read: 07:18:19.6458 LVL= 28384, 32241, 20050, 32755, AGC= 52, IDX= 419,-0.15,-0.522,-1.914, 0.222,-0.297, PHS=-0.123,-1.572, 0.475, RAW= 166.5,  13.3, CAL= 166.9,  15.8, ROT= 343.1, -15.8

2025-08-21T07:18:21.455Z,1755760701.455 [DAT](INFO): got valid direction response:
 07:18:19.6458 LVL= 28384, 32241, 20050, 32755, AGC= 52, IDX= 419,-0.15,-0.522,-1.914, 0.222,-0.297, PHS=-0.123,-1.572, 0.475, RAW= 166.5,  13.3, CAL= 166.9,  15.8, ROT= 343.1, -15.8

2025-08-21T07:18:21.456Z,1755760701.456 [DAT](INFO): DAT read: Bearing 200.9, -18.5 (Local)

2025-08-21T07:18:21.457Z,1755760701.457 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.9, -18.5 (Local)

2025-08-21T07:18:21.458Z,1755760701.458 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m  (Round-trip  24.1 ms) speed  0.5 m/s

2025-08-21T07:18:21.459Z,1755760701.459 [DAT](INFO): DAT read: user:2183>

2025-08-21T07:18:21.460Z,1755760701.460 [DAT](INFO): DAT read: Tx time:07:18:20.7675

2025-08-21T07:18:21.460Z,1755760701.460 [DAT](INFO): Ping request sent.
2025-08-21T07:18:21.460Z,1755760701.460 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:21.461Z,1755760701.461 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:21.461Z,1755760701.461 [DAT](INFO): direction in FSK: [0.920663,-0.279719,0.272280]
2025-08-21T07:18:21.462Z,1755760701.462 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:21.462Z,1755760701.462 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:21.465Z,1755760701.465 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:21.465Z,1755760701.465 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:21.589Z,1755760701.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 3.527892 s,
      deltaX: -2.100000 m,
      approachRate: -0.595256 m/s,
      rangeRepo size: 4

2025-08-21T07:18:21.595Z,1755760701.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.900627 m,
      bearing: 8.186868 deg,
      lat: 36.779398 deg,
      lon: -121.859400 deg,
      deltaT: 3.527892 s,
      deltaX: -2.088326 m,
      approachRate: -0.591947 m/s,
      posRepo size: 4

2025-08-21T07:18:21.596Z,1755760701.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m.
2025-08-21T07:18:21.598Z,1755760701.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.900627 m,
      nav range: 17.453802 m,
      bearing: 8.310221 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.127047 deg/s,
      cmd heading: 21.725903 deg,
      new cmd heading: 21.546323 deg.

2025-08-21T07:18:21.604Z,1755760701.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.376054 target range: 17.900627 and range: 18.00 m.
2025-08-21T07:18:21.990Z,1755760701.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m.
2025-08-21T07:18:21.999Z,1755760701.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.900627 m,
      nav range: 17.216101 m,
      bearing: 8.231764 deg,
      approach rate: -0.592025 m/s,
      LOS rate: -0.198103 deg/s,
      cmd heading: 21.546324 deg,
      new cmd heading: 21.307706 deg.

2025-08-21T07:18:22.004Z,1755760702.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.371890 target range: 17.900627 and range: 18.00 m.
2025-08-21T07:18:22.368Z,1755760702.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m.
2025-08-21T07:18:22.371Z,1755760702.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.900627 m,
      nav range: 16.997078 m,
      bearing: 8.158708 deg,
      approach rate: -0.578556 m/s,
      LOS rate: -0.195468 deg/s,
      cmd heading: 21.307706 deg,
      new cmd heading: 21.085713 deg.

2025-08-21T07:18:22.372Z,1755760702.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.368015 target range: 17.900627 and range: 18.00 m.
2025-08-21T07:18:22.793Z,1755760702.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m.
2025-08-21T07:18:22.796Z,1755760702.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.900627 m,
      nav range: 16.735653 m,
      bearing: 8.082989 deg,
      approach rate: -0.615789 m/s,
      LOS rate: -0.181141 deg/s,
      cmd heading: 21.085713 deg,
      new cmd heading: 20.855011 deg.

2025-08-21T07:18:22.797Z,1755760702.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.363989 target range: 17.900627 and range: 18.00 m.
2025-08-21T07:18:23.148Z,1755760703.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:23.152Z,1755760703.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m.
2025-08-21T07:18:23.172Z,1755760703.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.900627 m,
      nav range: 16.525873 m,
      bearing: 8.021366 deg,
      approach rate: -0.585815 m/s,
      LOS rate: -0.174270 deg/s,
      cmd heading: 20.855011 deg,
      new cmd heading: 20.667794 deg.

2025-08-21T07:18:23.173Z,1755760703.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.360721 target range: 17.900627 and range: 18.00 m.
2025-08-21T07:18:23.212Z,1755760703.212 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:23.212Z,1755760703.212 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:23.212Z,1755760703.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:23.464Z,1755760703.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004087
2025-08-21T07:18:23.559Z,1755760703.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m.
2025-08-21T07:18:23.562Z,1755760703.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.900627 m,
      nav range: 16.281420 m,
      bearing: 7.948873 deg,
      approach rate: -0.599236 m/s,
      LOS rate: -0.180372 deg/s,
      cmd heading: 20.667794 deg,
      new cmd heading: 20.447052 deg.

2025-08-21T07:18:23.563Z,1755760703.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.356868 target range: 17.900627 and range: 18.00 m.
2025-08-21T07:18:23.719Z,1755760703.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258686
2025-08-21T07:18:23.968Z,1755760703.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508093
2025-08-21T07:18:23.977Z,1755760703.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m.
2025-08-21T07:18:23.980Z,1755760703.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.900627 m,
      nav range: 16.044170 m,
      bearing: 7.888422 deg,
      approach rate: -0.567353 m/s,
      LOS rate: -0.146700 deg/s,
      cmd heading: 20.447051 deg,
      new cmd heading: 20.263016 deg.

2025-08-21T07:18:23.981Z,1755760703.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.353656 target range: 17.900627 and range: 18.00 m.
2025-08-21T07:18:24.221Z,1755760704.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760581
2025-08-21T07:18:24.372Z,1755760704.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m.
2025-08-21T07:18:24.374Z,1755760704.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.900627 m,
      nav range: 15.818479 m,
      bearing: 7.831186 deg,
      approach rate: -0.572389 m/s,
      LOS rate: -0.147230 deg/s,
      cmd heading: 20.263016 deg,
      new cmd heading: 20.088859 deg.

2025-08-21T07:18:24.375Z,1755760704.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.350617 target range: 17.900627 and range: 18.00 m.
2025-08-21T07:18:24.472Z,1755760704.472 [DAT](INFO): DAT read: Rx Time:07:18:23.1930

2025-08-21T07:18:24.473Z,1755760704.473 [DAT](INFO): Rx dataTimestamp_ set to:1755760704.472556
2025-08-21T07:18:24.473Z,1755760704.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013157
2025-08-21T07:18:24.728Z,1755760704.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267388
2025-08-21T07:18:24.794Z,1755760704.794 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022611054342,35.,   0.0,1492.0,  0
2025-08-21T07:18:24.861Z,1755760704.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m.
2025-08-21T07:18:24.886Z,1755760704.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.900627 m,
      nav range: 15.556087 m,
      bearing: 7.765148 deg,
      approach rate: -0.543237 m/s,
      LOS rate: -0.139025 deg/s,
      cmd heading: 20.088858 deg,
      new cmd heading: 19.887406 deg.

2025-08-21T07:18:24.896Z,1755760704.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.347101 target range: 17.900627 and range: 18.00 m.
2025-08-21T07:18:24.985Z,1755760704.985 [DAT](INFO): DAT read: 07:18:23.1930 LVL= 28304, 31105, 19538, 32755, AGC= 53, IDX= 407, 0.17, 3.089, 1.646,-2.431,-2.956, PHS=-0.136,-1.635, 0.481, RAW= 166.5,  13.6, CAL= 166.9,  16.2, ROT= 343.1, -16.2

2025-08-21T07:18:24.987Z,1755760704.987 [DAT](INFO): got valid direction response:
 07:18:23.1930 LVL= 28304, 31105, 19538, 32755, AGC= 53, IDX= 407, 0.17, 3.089, 1.646,-2.431,-2.956, PHS=-0.136,-1.635, 0.481, RAW= 166.5,  13.6, CAL= 166.9,  16.2, ROT= 343.1, -16.2

2025-08-21T07:18:24.988Z,1755760704.988 [DAT](INFO): DAT read: Bearing 200.5, -18.1 (Local)

2025-08-21T07:18:24.988Z,1755760704.988 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.5, -18.1 (Local)

2025-08-21T07:18:24.991Z,1755760704.991 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m  (Round-trip  21.3 ms) speed  0.4 m/s

2025-08-21T07:18:25.002Z,1755760705.002 [DAT](INFO): DAT read: user:2184>

2025-08-21T07:18:25.008Z,1755760705.008 [DAT](INFO): DAT read: Tx time:07:18:24.3175

2025-08-21T07:18:25.008Z,1755760705.008 [DAT](INFO): Ping request sent.
2025-08-21T07:18:25.008Z,1755760705.008 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:25.008Z,1755760705.008 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:25.009Z,1755760705.009 [DAT](INFO): direction in FSK: [0.918822,-0.279159,0.278991]
2025-08-21T07:18:25.010Z,1755760705.010 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:25.010Z,1755760705.010 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:25.024Z,1755760705.024 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:25.024Z,1755760705.024 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:25.270Z,1755760705.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.900000 m,
      deltaT: 3.528562 s,
      deltaX: -2.100000 m,
      approachRate: -0.595143 m/s,
      rangeRepo size: 4

2025-08-21T07:18:25.273Z,1755760705.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.812296 m,
      bearing: 7.418876 deg,
      lat: 36.779398 deg,
      lon: -121.859400 deg,
      deltaT: 3.528562 s,
      deltaX: -2.088331 m,
      approachRate: -0.591836 m/s,
      posRepo size: 4

2025-08-21T07:18:25.273Z,1755760705.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m.
2025-08-21T07:18:25.276Z,1755760705.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.812296 m,
      nav range: 15.315013 m,
      bearing: 7.641908 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.139025 deg/s,
      cmd heading: 19.887405 deg,
      new cmd heading: 19.714210 deg.

2025-08-21T07:18:25.277Z,1755760705.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.344078 target range: 15.812296 and range: 15.90 m.
2025-08-21T07:18:25.647Z,1755760705.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:25.649Z,1755760705.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m.
2025-08-21T07:18:25.652Z,1755760705.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.812296 m,
      nav range: 15.094990 m,
      bearing: 7.587222 deg,
      approach rate: -0.579941 m/s,
      LOS rate: -0.146244 deg/s,
      cmd heading: 19.714211 deg,
      new cmd heading: 19.547761 deg.

2025-08-21T07:18:25.653Z,1755760705.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.341173 target range: 15.812296 and range: 15.90 m.
2025-08-21T07:18:25.736Z,1755760705.736 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:25.737Z,1755760705.737 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:25.738Z,1755760705.738 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:25.984Z,1755760705.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.975962
2025-08-21T07:18:26.084Z,1755760706.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m.
2025-08-21T07:18:26.086Z,1755760706.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.812296 m,
      nav range: 14.852880 m,
      bearing: 7.530827 deg,
      approach rate: -0.557511 m/s,
      LOS rate: -0.131981 deg/s,
      cmd heading: 19.547761 deg,
      new cmd heading: 19.375816 deg.

2025-08-21T07:18:26.103Z,1755760706.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.338172 target range: 15.812296 and range: 15.90 m.
2025-08-21T07:18:26.236Z,1755760706.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.228135
2025-08-21T07:18:26.469Z,1755760706.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m.
2025-08-21T07:18:26.472Z,1755760706.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.812296 m,
      nav range: 14.639024 m,
      bearing: 7.481684 deg,
      approach rate: -0.554708 m/s,
      LOS rate: -0.129330 deg/s,
      cmd heading: 19.375816 deg,
      new cmd heading: 19.226234 deg.

2025-08-21T07:18:26.473Z,1755760706.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.335561 target range: 15.812296 and range: 15.90 m.
2025-08-21T07:18:26.488Z,1755760706.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.480184
2025-08-21T07:18:26.743Z,1755760706.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734304
2025-08-21T07:18:26.938Z,1755760706.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m.
2025-08-21T07:18:26.944Z,1755760706.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.812296 m,
      nav range: 14.389646 m,
      bearing: 7.439631 deg,
      approach rate: -0.532175 m/s,
      LOS rate: -0.091297 deg/s,
      cmd heading: 19.226235 deg,
      new cmd heading: 19.097888 deg.

2025-08-21T07:18:26.945Z,1755760706.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.333321 target range: 15.812296 and range: 15.90 m.
2025-08-21T07:18:26.997Z,1755760706.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987744
2025-08-21T07:18:27.244Z,1755760707.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.236125
2025-08-21T07:18:27.370Z,1755760707.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m.
2025-08-21T07:18:27.373Z,1755760707.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.812296 m,
      nav range: 14.133300 m,
      bearing: 7.398999 deg,
      approach rate: -0.593294 m/s,
      LOS rate: -0.095745 deg/s,
      cmd heading: 19.097889 deg,
      new cmd heading: 18.973783 deg.

2025-08-21T07:18:27.374Z,1755760707.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.331155 target range: 15.812296 and range: 15.90 m.
2025-08-21T07:18:27.498Z,1755760707.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489159
2025-08-21T07:18:27.751Z,1755760707.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742550
2025-08-21T07:18:27.876Z,1755760707.876 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:27.878Z,1755760707.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m.
2025-08-21T07:18:27.885Z,1755760707.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.812296 m,
      nav range: 13.854809 m,
      bearing: 7.387584 deg,
      approach rate: -0.547752 m/s,
      LOS rate: -0.022903 deg/s,
      cmd heading: 18.973782 deg,
      new cmd heading: 18.938849 deg.

2025-08-21T07:18:27.886Z,1755760707.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.330545 target range: 15.812296 and range: 15.90 m.
2025-08-21T07:18:28.000Z,1755760708.000 [DAT](INFO): DAT read: Rx Time:07:18:26.7404

2025-08-21T07:18:28.001Z,1755760708.001 [DAT](INFO): Rx dataTimestamp_ set to:1755760708.000655
2025-08-21T07:18:28.001Z,1755760708.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993337
2025-08-21T07:18:28.252Z,1755760708.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.243995
2025-08-21T07:18:28.367Z,1755760708.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m.
2025-08-21T07:18:28.370Z,1755760708.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.812296 m,
      nav range: 13.568988 m,
      bearing: 7.375381 deg,
      approach rate: -0.584906 m/s,
      LOS rate: -0.025497 deg/s,
      cmd heading: 18.938849 deg,
      new cmd heading: 18.901471 deg.

2025-08-21T07:18:28.370Z,1755760708.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329893 target range: 15.812296 and range: 15.90 m.
2025-08-21T07:18:28.512Z,1755760708.512 [DAT](INFO): DAT read: 07:18:26.7403 LVL= 28048, 31137, 18994, 32755, AGC= 52, IDX= 412,-0.42, 2.554, 1.135,-2.955, 2.824, PHS=-0.168,-1.644, 0.460, RAW= 166.9,  14.3, CAL= 167.4,  17.3, ROT= 342.6, -17.3

2025-08-21T07:18:28.513Z,1755760708.513 [DAT](INFO): got valid direction response:
 07:18:26.7403 LVL= 28048, 31137, 18994, 32755, AGC= 52, IDX= 412,-0.42, 2.554, 1.135,-2.955, 2.824, PHS=-0.168,-1.644, 0.460, RAW= 166.9,  14.3, CAL= 167.4,  17.3, ROT= 342.6, -17.3

2025-08-21T07:18:28.514Z,1755760708.514 [DAT](INFO): DAT read: Bearing 200.1, -18.2 (Local)

2025-08-21T07:18:28.514Z,1755760708.514 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.1, -18.2 (Local)

2025-08-21T07:18:28.516Z,1755760708.516 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m  (Round-trip  18.7 ms) speed  0.4 m/s

2025-08-21T07:18:28.516Z,1755760708.516 [DAT](INFO): DAT read: user:2185>

2025-08-21T07:18:28.517Z,1755760708.517 [DAT](INFO): DAT read: Tx time:07:18:27.8674

2025-08-21T07:18:28.517Z,1755760708.517 [DAT](INFO): Ping request sent.
2025-08-21T07:18:28.517Z,1755760708.517 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:28.518Z,1755760708.518 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:28.519Z,1755760708.519 [DAT](INFO): direction in FSK: [0.911071,-0.285513,0.297375]
2025-08-21T07:18:28.524Z,1755760708.524 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:28.525Z,1755760708.525 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:28.552Z,1755760708.552 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:28.552Z,1755760708.552 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:28.774Z,1755760708.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 3.528516 s,
      deltaX: -1.900000 m,
      approachRate: -0.538470 m/s,
      rangeRepo size: 4

2025-08-21T07:18:28.812Z,1755760708.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.922815 m,
      bearing: 5.197955 deg,
      lat: 36.779399 deg,
      lon: -121.859400 deg,
      deltaT: 3.528516 s,
      deltaX: -1.889481 m,
      approachRate: -0.535489 m/s,
      posRepo size: 4

2025-08-21T07:18:28.815Z,1755760708.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T07:18:28.826Z,1755760708.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.922815 m,
      nav range: 13.391135 m,
      bearing: 7.259161 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025497 deg/s,
      cmd heading: 18.901471 deg,
      new cmd heading: 18.870624 deg.

2025-08-21T07:18:28.832Z,1755760708.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329355 target range: 13.922815 and range: 14.00 m.
2025-08-21T07:18:29.186Z,1755760709.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T07:18:29.193Z,1755760709.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.922815 m,
      nav range: 13.164257 m,
      bearing: 7.258627 deg,
      approach rate: -0.544973 m/s,
      LOS rate: -0.001304 deg/s,
      cmd heading: 18.870624 deg,
      new cmd heading: 18.868995 deg.

2025-08-21T07:18:29.194Z,1755760709.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329326 target range: 13.922815 and range: 14.00 m.
2025-08-21T07:18:29.545Z,1755760709.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T07:18:29.548Z,1755760709.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.922815 m,
      nav range: 12.957106 m,
      bearing: 7.261371 deg,
      approach rate: -0.577846 m/s,
      LOS rate: 0.007778 deg/s,
      cmd heading: 18.868995 deg,
      new cmd heading: 18.877361 deg.

2025-08-21T07:18:29.549Z,1755760709.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329472 target range: 13.922815 and range: 14.00 m.
2025-08-21T07:18:29.981Z,1755760709.981 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:29.983Z,1755760709.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T07:18:29.986Z,1755760709.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.922815 m,
      nav range: 12.710172 m,
      bearing: 7.254204 deg,
      approach rate: -0.564003 m/s,
      LOS rate: -0.016688 deg/s,
      cmd heading: 18.877360 deg,
      new cmd heading: 18.855441 deg.

2025-08-21T07:18:29.987Z,1755760709.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329090 target range: 13.922815 and range: 14.00 m.
2025-08-21T07:18:30.016Z,1755760710.016 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:30.016Z,1755760710.016 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:30.016Z,1755760710.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:30.268Z,1755760710.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750743
2025-08-21T07:18:30.371Z,1755760710.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T07:18:30.374Z,1755760710.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.922815 m,
      nav range: 12.497386 m,
      bearing: 7.254246 deg,
      approach rate: -0.553507 m/s,
      LOS rate: 0.000111 deg/s,
      cmd heading: 18.855441 deg,
      new cmd heading: 18.855569 deg.

2025-08-21T07:18:30.375Z,1755760710.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329092 target range: 13.922815 and range: 14.00 m.
2025-08-21T07:18:30.520Z,1755760710.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002758
2025-08-21T07:18:30.765Z,1755760710.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T07:18:30.768Z,1755760710.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.922815 m,
      nav range: 12.273838 m,
      bearing: 7.257540 deg,
      approach rate: -0.561065 m/s,
      LOS rate: 0.008418 deg/s,
      cmd heading: 18.855569 deg,
      new cmd heading: 18.865631 deg.

2025-08-21T07:18:30.775Z,1755760710.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257360
2025-08-21T07:18:30.775Z,1755760710.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329267 target range: 13.922815 and range: 14.00 m.
2025-08-21T07:18:31.024Z,1755760711.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506885
2025-08-21T07:18:31.198Z,1755760711.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T07:18:31.201Z,1755760711.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.922815 m,
      nav range: 12.027337 m,
      bearing: 7.260348 deg,
      approach rate: -0.570525 m/s,
      LOS rate: 0.006632 deg/s,
      cmd heading: 18.865631 deg,
      new cmd heading: 18.874227 deg.

2025-08-21T07:18:31.201Z,1755760711.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329417 target range: 13.922815 and range: 14.00 m.
2025-08-21T07:18:31.278Z,1755760711.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760177
2025-08-21T07:18:31.528Z,1755760711.528 [DAT](INFO): DAT read: Rx Time:07:18:30.2875

2025-08-21T07:18:31.529Z,1755760711.529 [DAT](INFO): Rx dataTimestamp_ set to:1755760711.528463
2025-08-21T07:18:31.529Z,1755760711.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011796
2025-08-21T07:18:31.603Z,1755760711.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m.
2025-08-21T07:18:31.606Z,1755760711.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.922815 m,
      nav range: 11.812592 m,
      bearing: 7.262890 deg,
      approach rate: -0.529897 m/s,
      LOS rate: 0.006385 deg/s,
      cmd heading: 18.874227 deg,
      new cmd heading: 18.881990 deg.

2025-08-21T07:18:31.607Z,1755760711.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329553 target range: 13.922815 and range: 14.00 m.
2025-08-21T07:18:31.782Z,1755760711.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264030
2025-08-21T07:18:32.038Z,1755760712.038 [DAT](INFO): DAT read: 07:18:30.2875 LVL= 27360, 31441, 18354, 32755, AGC= 50, IDX= 416,-0.16,-2.884, 2.000,-2.040,-2.612, PHS=-0.169,-1.626, 0.529, RAW= 168.5,  13.2, CAL= 168.9,  15.9, ROT= 341.1, -15.9

2025-08-21T07:18:32.039Z,1755760712.039 [DAT](INFO): got valid direction response:
 07:18:30.2875 LVL= 27360, 31441, 18354, 32755, AGC= 50, IDX= 416,-0.16,-2.884, 2.000,-2.040,-2.612, PHS=-0.169,-1.626, 0.529, RAW= 168.5,  13.2, CAL= 168.9,  15.9, ROT= 341.1, -15.9

2025-08-21T07:18:32.040Z,1755760712.040 [DAT](INFO): DAT read: Bearing 197.2, -19.1 (Local)

2025-08-21T07:18:32.041Z,1755760712.041 [DAT](INFO): Local bearing/azimuth received:
 Bearing 197.2, -19.1 (Local)

2025-08-21T07:18:32.042Z,1755760712.042 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m  (Round-trip  16.0 ms) speed  0.4 m/s

2025-08-21T07:18:32.043Z,1755760712.043 [DAT](INFO): DAT read: user:2186>

2025-08-21T07:18:32.044Z,1755760712.044 [DAT](INFO): DAT read: Tx time:07:18:31.4174

2025-08-21T07:18:32.044Z,1755760712.044 [DAT](INFO): Ping request sent.
2025-08-21T07:18:32.044Z,1755760712.044 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:32.044Z,1755760712.044 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:32.045Z,1755760712.045 [DAT](INFO): direction in FSK: [0.909889,-0.311525,0.273959]
2025-08-21T07:18:32.045Z,1755760712.045 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:32.046Z,1755760712.046 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:32.066Z,1755760712.066 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:32.066Z,1755760712.066 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:32.091Z,1755760712.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.000000 m,
      deltaT: 3.527169 s,
      deltaX: -2.000000 m,
      approachRate: -0.567027 m/s,
      rangeRepo size: 4

2025-08-21T07:18:32.093Z,1755760712.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.933841 m,
      bearing: 2.145571 deg,
      lat: 36.779399 deg,
      lon: -121.859401 deg,
      deltaT: 3.527169 s,
      deltaX: -1.988975 m,
      approachRate: -0.563901 m/s,
      posRepo size: 4

2025-08-21T07:18:32.094Z,1755760712.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T07:18:32.107Z,1755760712.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.933841 m,
      nav range: 11.523845 m,
      bearing: 7.066921 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.006385 deg/s,
      cmd heading: 18.881990 deg,
      new cmd heading: 18.891254 deg.

2025-08-21T07:18:32.112Z,1755760712.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329715 target range: 11.933841 and range: 12.00 m.
2025-08-21T07:18:32.446Z,1755760712.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:32.448Z,1755760712.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T07:18:32.451Z,1755760712.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.933841 m,
      nav range: 11.298269 m,
      bearing: 7.042543 deg,
      approach rate: -0.623445 m/s,
      LOS rate: -0.068720 deg/s,
      cmd heading: 18.891253 deg,
      new cmd heading: 18.816660 deg.

2025-08-21T07:18:32.452Z,1755760712.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.328413 target range: 11.933841 and range: 12.00 m.
2025-08-21T07:18:32.537Z,1755760712.537 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:32.537Z,1755760712.537 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:32.538Z,1755760712.538 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:32.789Z,1755760712.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744543
2025-08-21T07:18:32.926Z,1755760712.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T07:18:32.929Z,1755760712.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.933841 m,
      nav range: 11.015169 m,
      bearing: 6.998229 deg,
      approach rate: -0.592224 m/s,
      LOS rate: -0.095084 deg/s,
      cmd heading: 18.816661 deg,
      new cmd heading: 18.680302 deg.

2025-08-21T07:18:32.930Z,1755760712.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326033 target range: 11.933841 and range: 12.00 m.
2025-08-21T07:18:33.041Z,1755760713.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996812
2025-08-21T07:18:33.262Z,1755760713.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T07:18:33.265Z,1755760713.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.933841 m,
      nav range: 10.816204 m,
      bearing: 6.967788 deg,
      approach rate: -0.592070 m/s,
      LOS rate: -0.092253 deg/s,
      cmd heading: 18.680303 deg,
      new cmd heading: 18.587298 deg.

2025-08-21T07:18:33.266Z,1755760713.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.324410 target range: 11.933841 and range: 12.00 m.
2025-08-21T07:18:33.293Z,1755760713.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249008
2025-08-21T07:18:33.545Z,1755760713.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500696
2025-08-21T07:18:33.662Z,1755760713.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T07:18:33.665Z,1755760713.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.933841 m,
      nav range: 10.579975 m,
      bearing: 6.931741 deg,
      approach rate: -0.591556 m/s,
      LOS rate: -0.092283 deg/s,
      cmd heading: 18.587298 deg,
      new cmd heading: 18.476743 deg.

2025-08-21T07:18:33.665Z,1755760713.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.322480 target range: 11.933841 and range: 12.00 m.
2025-08-21T07:18:33.798Z,1755760713.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753757
2025-08-21T07:18:34.048Z,1755760714.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004260
2025-08-21T07:18:34.100Z,1755760714.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T07:18:34.103Z,1755760714.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.933841 m,
      nav range: 10.318041 m,
      bearing: 6.883917 deg,
      approach rate: -0.597018 m/s,
      LOS rate: -0.111770 deg/s,
      cmd heading: 18.476743 deg,
      new cmd heading: 18.329629 deg.

2025-08-21T07:18:34.104Z,1755760714.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.319912 target range: 11.933841 and range: 12.00 m.
2025-08-21T07:18:34.301Z,1755760714.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256515
2025-08-21T07:18:34.482Z,1755760714.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:34.485Z,1755760714.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T07:18:34.488Z,1755760714.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.933841 m,
      nav range: 10.088661 m,
      bearing: 6.839996 deg,
      approach rate: -0.596842 m/s,
      LOS rate: -0.116880 deg/s,
      cmd heading: 18.329629 deg,
      new cmd heading: 18.194870 deg.

2025-08-21T07:18:34.489Z,1755760714.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.317560 target range: 11.933841 and range: 12.00 m.
2025-08-21T07:18:34.553Z,1755760714.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508656
2025-08-21T07:18:34.804Z,1755760714.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760294
2025-08-21T07:18:34.973Z,1755760714.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T07:18:34.976Z,1755760714.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.933841 m,
      nav range: 9.797734 m,
      bearing: 6.785127 deg,
      approach rate: -0.596267 m/s,
      LOS rate: -0.115795 deg/s,
      cmd heading: 18.194871 deg,
      new cmd heading: 18.025378 deg.

2025-08-21T07:18:34.977Z,1755760714.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.314602 target range: 11.933841 and range: 12.00 m.
2025-08-21T07:18:35.057Z,1755760715.057 [DAT](INFO): DAT read: Rx Time:07:18:33.8349

2025-08-21T07:18:35.058Z,1755760715.058 [DAT](INFO): Rx dataTimestamp_ set to:1755760715.057325
2025-08-21T07:18:35.059Z,1755760715.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014515
2025-08-21T07:18:35.308Z,1755760715.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264358
2025-08-21T07:18:35.316Z,1755760715.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m.
2025-08-21T07:18:35.318Z,1755760715.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.933841 m,
      nav range: 9.590487 m,
      bearing: 6.749053 deg,
      approach rate: -0.604031 m/s,
      LOS rate: -0.107413 deg/s,
      cmd heading: 18.025378 deg,
      new cmd heading: 17.914816 deg.

2025-08-21T07:18:35.320Z,1755760715.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.312673 target range: 11.933841 and range: 12.00 m.
2025-08-21T07:18:35.568Z,1755760715.568 [DAT](INFO): DAT read: 07:18:33.8349 LVL= 29200, 32753, 19186, 32755, AGC= 51, IDX= 421, 0.10, 2.681, 1.238,-2.720, 2.960, PHS=-0.177,-1.677, 0.559, RAW= 168.8,  13.1, CAL= 169.1,  15.7, ROT= 340.9, -15.7

2025-08-21T07:18:35.569Z,1755760715.569 [DAT](INFO): got valid direction response:
 07:18:33.8349 LVL= 29200, 32753, 19186, 32755, AGC= 51, IDX= 421, 0.10, 2.681, 1.238,-2.720, 2.960, PHS=-0.177,-1.677, 0.559, RAW= 168.8,  13.1, CAL= 169.1,  15.7, ROT= 340.9, -15.7

2025-08-21T07:18:35.570Z,1755760715.570 [DAT](INFO): DAT read: Bearing 195.9, -18.7 (Local)

2025-08-21T07:18:35.570Z,1755760715.570 [DAT](INFO): Local bearing/azimuth received:
 Bearing 195.9, -18.7 (Local)

2025-08-21T07:18:35.572Z,1755760715.572 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m  (Round-trip  13.3 ms) speed  0.5 m/s

2025-08-21T07:18:35.573Z,1755760715.573 [DAT](INFO): DAT read: user:2187>

2025-08-21T07:18:35.574Z,1755760715.574 [DAT](INFO): DAT read: Tx time:07:18:34.9174

2025-08-21T07:18:35.574Z,1755760715.574 [DAT](INFO): Ping request sent.
2025-08-21T07:18:35.574Z,1755760715.574 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:35.575Z,1755760715.575 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:35.576Z,1755760715.576 [DAT](INFO): direction in FSK: [0.909694,-0.315010,0.270600]
2025-08-21T07:18:35.576Z,1755760715.576 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:35.576Z,1755760715.576 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:35.579Z,1755760715.579 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:35.580Z,1755760715.580 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:35.760Z,1755760715.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.900000 m,
      deltaT: 3.528182 s,
      deltaX: -2.100000 m,
      approachRate: -0.595208 m/s,
      rangeRepo size: 4

2025-08-21T07:18:35.762Z,1755760715.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.845448 m,
      bearing: 1.179619 deg,
      lat: 36.779399 deg,
      lon: -121.859406 deg,
      deltaT: 3.528182 s,
      deltaX: -2.088392 m,
      approachRate: -0.591917 m/s,
      posRepo size: 4

2025-08-21T07:18:35.768Z,1755760715.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m.
2025-08-21T07:18:35.769Z,1755760715.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m.
2025-08-21T07:18:35.769Z,1755760715.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-21T07:18:35.778Z,1755760715.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 9.369789 m,
      bearing: 3.959400 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107413 deg/s,
      cmd heading: 17.914816 deg,
      new cmd heading: 17.773117 deg.

2025-08-21T07:18:35.785Z,1755760715.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.310199 target range: 9.845448 and range: 9.90 m.
2025-08-21T07:18:36.068Z,1755760716.068 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:18:36.160Z,1755760716.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:36.164Z,1755760716.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 9.111290 m,
      bearing: 3.834922 deg,
      approach rate: -0.641639 m/s,
      LOS rate: -0.317740 deg/s,
      cmd heading: 17.773117 deg,
      new cmd heading: 17.389096 deg.

2025-08-21T07:18:36.166Z,1755760716.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.303497 target range: 9.845448 and range: 9.90 m.
2025-08-21T07:18:36.532Z,1755760716.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:36.534Z,1755760716.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:36.537Z,1755760716.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 8.875439 m,
      bearing: 3.717416 deg,
      approach rate: -0.628416 m/s,
      LOS rate: -0.321410 deg/s,
      cmd heading: 17.389096 deg,
      new cmd heading: 17.027216 deg.

2025-08-21T07:18:36.537Z,1755760716.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.297181 target range: 9.845448 and range: 9.90 m.
2025-08-21T07:18:36.572Z,1755760716.572 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:36.572Z,1755760716.572 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:36.573Z,1755760716.573 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:36.825Z,1755760716.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250372
2025-08-21T07:18:36.993Z,1755760716.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:36.996Z,1755760716.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 8.596858 m,
      bearing: 3.597918 deg,
      approach rate: -0.607096 m/s,
      LOS rate: -0.268856 deg/s,
      cmd heading: 17.027216 deg,
      new cmd heading: 16.657108 deg.

2025-08-21T07:18:36.996Z,1755760716.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.290721 target range: 9.845448 and range: 9.90 m.
2025-08-21T07:18:37.073Z,1755760717.073 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:18:37.077Z,1755760717.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502902
2025-08-21T07:18:37.328Z,1755760717.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754031
2025-08-21T07:18:37.337Z,1755760717.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:37.352Z,1755760717.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 8.388640 m,
      bearing: 3.505860 deg,
      approach rate: -0.605078 m/s,
      LOS rate: -0.274159 deg/s,
      cmd heading: 16.657108 deg,
      new cmd heading: 16.374082 deg.

2025-08-21T07:18:37.353Z,1755760717.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.285782 target range: 9.845448 and range: 9.90 m.
2025-08-21T07:18:37.580Z,1755760717.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005926
2025-08-21T07:18:37.749Z,1755760717.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:37.752Z,1755760717.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 8.137221 m,
      bearing: 3.392105 deg,
      approach rate: -0.609872 m/s,
      LOS rate: -0.284463 deg/s,
      cmd heading: 16.374083 deg,
      new cmd heading: 16.022279 deg.

2025-08-21T07:18:37.753Z,1755760717.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279642 target range: 9.845448 and range: 9.90 m.
2025-08-21T07:18:37.833Z,1755760717.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258883
2025-08-21T07:18:38.084Z,1755760718.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509940
2025-08-21T07:18:38.210Z,1755760718.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:38.214Z,1755760718.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 7.869308 m,
      bearing: 3.299277 deg,
      approach rate: -0.580889 m/s,
      LOS rate: -0.208121 deg/s,
      cmd heading: 16.022278 deg,
      new cmd heading: 15.734316 deg.

2025-08-21T07:18:38.214Z,1755760718.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.274616 target range: 9.845448 and range: 9.90 m.
2025-08-21T07:18:38.336Z,1755760718.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761934
2025-08-21T07:18:38.546Z,1755760718.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:38.548Z,1755760718.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:38.551Z,1755760718.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 7.651362 m,
      bearing: 3.223086 deg,
      approach rate: -0.644723 m/s,
      LOS rate: -0.231806 deg/s,
      cmd heading: 15.734316 deg,
      new cmd heading: 15.499234 deg.

2025-08-21T07:18:38.568Z,1755760718.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.270513 target range: 9.845448 and range: 9.90 m.
2025-08-21T07:18:38.588Z,1755760718.588 [DAT](INFO): DAT read: Rx Time:07:18:37.3322

2025-08-21T07:18:38.589Z,1755760718.589 [DAT](INFO): Rx dataTimestamp_ set to:1755760718.588627
2025-08-21T07:18:38.589Z,1755760718.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015180
2025-08-21T07:18:38.840Z,1755760718.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265899
2025-08-21T07:18:39.073Z,1755760719.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:39.075Z,1755760719.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 7.343717 m,
      bearing: 3.180870 deg,
      approach rate: -0.587002 m/s,
      LOS rate: -0.083925 deg/s,
      cmd heading: 15.499234 deg,
      new cmd heading: 15.367280 deg.

2025-08-21T07:18:39.076Z,1755760719.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.268210 target range: 9.845448 and range: 9.90 m.
2025-08-21T07:18:39.101Z,1755760719.101 [DAT](INFO): DAT read: 07:18:37.3322 LVL= 32752, 32753, 18866, 32755, AGC= 50, IDX= 409,-0.05,-2.804, 2.089,-1.982,-2.433, PHS=-0.268,-1.716, 0.407, RAW= 168.1,  16.5, CAL= 168.9,  20.9, ROT= 341.1, -20.9

2025-08-21T07:18:39.102Z,1755760719.102 [DAT](INFO): got valid direction response:
 07:18:37.3322 LVL= 32752, 32753, 18866, 32755, AGC= 50, IDX= 409,-0.05,-2.804, 2.089,-1.982,-2.433, PHS=-0.268,-1.716, 0.407, RAW= 168.1,  16.5, CAL= 168.9,  20.9, ROT= 341.1, -20.9

2025-08-21T07:18:39.103Z,1755760719.103 [DAT](INFO): DAT read: Bearing 200.5, -17.2 (Local)

2025-08-21T07:18:39.104Z,1755760719.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 200.5, -17.2 (Local)

2025-08-21T07:18:39.105Z,1755760719.105 [DAT](INFO): DAT read: Range 11 to 50 : 7.9 m  (Round-trip  10.6 ms) speed  0.5 m/s

2025-08-21T07:18:39.106Z,1755760719.106 [DAT](INFO): DAT read: user:2188>

2025-08-21T07:18:39.108Z,1755760719.108 [DAT](INFO): DAT read: Tx time:07:18:38.4174

2025-08-21T07:18:39.108Z,1755760719.108 [DAT](INFO): Ping request sent.
2025-08-21T07:18:39.109Z,1755760719.109 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:39.109Z,1755760719.109 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:39.110Z,1755760719.110 [DAT](INFO): direction in FSK: [0.883837,-0.302605,0.356738]
2025-08-21T07:18:39.111Z,1755760719.111 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:39.119Z,1755760719.119 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:39.124Z,1755760719.124 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:39.125Z,1755760719.125 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:39.398Z,1755760719.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.900000 m,
      deltaT: 3.533921 s,
      deltaX: -2.000000 m,
      approachRate: -0.565943 m/s,
      rangeRepo size: 4

2025-08-21T07:18:39.406Z,1755760719.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.856480 m,
      bearing: 0.134012 deg,
      lat: 36.779400 deg,
      lon: -121.859410 deg,
      deltaT: 3.533921 s,
      deltaX: -1.988968 m,
      approachRate: -0.562822 m/s,
      posRepo size: 4

2025-08-21T07:18:39.412Z,1755760719.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.86 m. 9.85 m.
2025-08-21T07:18:39.414Z,1755760719.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 7.169419 m,
      bearing: 3.162554 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107413 deg/s,
      cmd heading: 15.367280 deg,
      new cmd heading: 15.262613 deg.

2025-08-21T07:18:39.420Z,1755760719.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.266383 target range: 9.845448 and range: 7.90 m.
2025-08-21T07:18:39.786Z,1755760719.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:39.793Z,1755760719.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 6.940752 m,
      bearing: 3.143720 deg,
      approach rate: -0.588268 m/s,
      LOS rate: -0.050048 deg/s,
      cmd heading: 15.262613 deg,
      new cmd heading: 15.204249 deg.

2025-08-21T07:18:39.794Z,1755760719.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265364 target range: 9.845448 and range: 7.90 m.
2025-08-21T07:18:40.213Z,1755760720.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:40.215Z,1755760720.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 6.675950 m,
      bearing: 3.137630 deg,
      approach rate: -0.620589 m/s,
      LOS rate: -0.014841 deg/s,
      cmd heading: 15.204249 deg,
      new cmd heading: 15.185251 deg.

2025-08-21T07:18:40.216Z,1755760720.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265033 target range: 9.845448 and range: 7.90 m.
2025-08-21T07:18:40.565Z,1755760720.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:40.584Z,1755760720.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:40.586Z,1755760720.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 6.462665 m,
      bearing: 3.138986 deg,
      approach rate: -0.601519 m/s,
      LOS rate: 0.003951 deg/s,
      cmd heading: 15.185252 deg,
      new cmd heading: 15.189456 deg.

2025-08-21T07:18:40.587Z,1755760720.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265106 target range: 9.845448 and range: 7.90 m.
2025-08-21T07:18:40.604Z,1755760720.604 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:40.604Z,1755760720.604 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:40.604Z,1755760720.604 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:40.856Z,1755760720.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747750
2025-08-21T07:18:41.069Z,1755760721.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:41.072Z,1755760721.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 6.179593 m,
      bearing: 3.165205 deg,
      approach rate: -0.564338 m/s,
      LOS rate: 0.054665 deg/s,
      cmd heading: 15.189456 deg,
      new cmd heading: 15.271717 deg.

2025-08-21T07:18:41.073Z,1755760721.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.266542 target range: 9.845448 and range: 7.90 m.
2025-08-21T07:18:41.109Z,1755760721.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000089
2025-08-21T07:18:41.360Z,1755760721.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251766
2025-08-21T07:18:41.401Z,1755760721.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:41.432Z,1755760721.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 5.991478 m,
      bearing: 3.189524 deg,
      approach rate: -0.565751 m/s,
      LOS rate: 0.075436 deg/s,
      cmd heading: 15.271717 deg,
      new cmd heading: 15.346965 deg.

2025-08-21T07:18:41.433Z,1755760721.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.267855 target range: 9.845448 and range: 7.90 m.
2025-08-21T07:18:41.612Z,1755760721.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503699
2025-08-21T07:18:41.801Z,1755760721.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:41.824Z,1755760721.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 5.765896 m,
      bearing: 3.227944 deg,
      approach rate: -0.564616 m/s,
      LOS rate: 0.099923 deg/s,
      cmd heading: 15.346965 deg,
      new cmd heading: 15.466732 deg.

2025-08-21T07:18:41.825Z,1755760721.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.269945 target range: 9.845448 and range: 7.90 m.
2025-08-21T07:18:41.866Z,1755760721.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756947
2025-08-21T07:18:42.116Z,1755760722.116 [DAT](INFO): DAT read: Rx Time:07:18:40.8296

2025-08-21T07:18:42.117Z,1755760722.117 [DAT](INFO): Rx dataTimestamp_ set to:1755760722.116429
2025-08-21T07:18:42.117Z,1755760722.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008732
2025-08-21T07:18:42.268Z,1755760722.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:42.280Z,1755760722.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 5.509264 m,
      bearing: 3.284680 deg,
      approach rate: -0.549502 m/s,
      LOS rate: 0.127144 deg/s,
      cmd heading: 15.466733 deg,
      new cmd heading: 15.644871 deg.

2025-08-21T07:18:42.281Z,1755760722.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273055 target range: 9.845448 and range: 7.90 m.
2025-08-21T07:18:42.368Z,1755760722.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259862
2025-08-21T07:18:42.626Z,1755760722.626 [DAT](INFO): DAT read: 07:18:40.8296 LVL= 18416, 17057, 14034, 23251, AGC= 44, IDX= 413, 0.43,-1.027,-2.649,-1.098,-0.821, PHS=-0.103,-1.782,-0.321, RAW= 143.2,  26.3, CAL= 149.3,  38.6, ROT=   0.7, -38.6

2025-08-21T07:18:42.627Z,1755760722.627 [DAT](INFO): got valid direction response:
 07:18:40.8296 LVL= 18416, 17057, 14034, 23251, AGC= 44, IDX= 413, 0.43,-1.027,-2.649,-1.098,-0.821, PHS=-0.103,-1.782,-0.321, RAW= 143.2,  26.3, CAL= 149.3,  38.6, ROT=   0.7, -38.6

2025-08-21T07:18:42.628Z,1755760722.628 [DAT](INFO): DAT read: Bearing 215.3,   1.4 (Local)

2025-08-21T07:18:42.628Z,1755760722.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.3,   1.4 (Local)

2025-08-21T07:18:42.630Z,1755760722.630 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m  (Round-trip  8.1 ms) speed  0.4 m/s

2025-08-21T07:18:42.630Z,1755760722.630 [DAT](INFO): DAT read: user:2189>

2025-08-21T07:18:42.631Z,1755760722.631 [DAT](INFO): DAT read: Tx time:07:18:41.9174

2025-08-21T07:18:42.632Z,1755760722.632 [DAT](INFO): Ping request sent.
2025-08-21T07:18:42.632Z,1755760722.632 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:42.632Z,1755760722.632 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:42.633Z,1755760722.633 [DAT](INFO): direction in FSK: [0.781462,0.009548,0.623880]
2025-08-21T07:18:42.633Z,1755760722.633 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:42.633Z,1755760722.633 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:42.645Z,1755760722.645 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:42.645Z,1755760722.645 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:42.670Z,1755760722.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 3.525627 s,
      deltaX: -1.900000 m,
      approachRate: -0.538911 m/s,
      rangeRepo size: 4

2025-08-21T07:18:42.676Z,1755760722.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.966944 m,
      bearing: 18.234670 deg,
      lat: 36.779400 deg,
      lon: -121.859410 deg,
      deltaT: 7.059548 s,
      deltaX: -3.878504 m,
      approachRate: -0.549398 m/s,
      posRepo size: 4

2025-08-21T07:18:42.677Z,1755760722.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.97 m. 9.85 m.
2025-08-21T07:18:42.684Z,1755760722.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 5.299200 m,
      bearing: 3.343752 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107413 deg/s,
      cmd heading: 15.644871 deg,
      new cmd heading: 15.515398 deg.

2025-08-21T07:18:42.685Z,1755760722.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.270795 target range: 9.845448 and range: 6.00 m.
2025-08-21T07:18:43.125Z,1755760723.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:43.128Z,1755760723.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:43.130Z,1755760723.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 5.008960 m,
      bearing: 3.400560 deg,
      approach rate: -0.633817 m/s,
      LOS rate: 0.131244 deg/s,
      cmd heading: 15.515398 deg,
      new cmd heading: 15.695697 deg.

2025-08-21T07:18:43.132Z,1755760723.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273942 target range: 9.845448 and range: 6.00 m.
2025-08-21T07:18:43.376Z,1755760723.376 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:43.376Z,1755760723.376 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:43.376Z,1755760723.376 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:43.494Z,1755760723.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:43.500Z,1755760723.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 4.805161 m,
      bearing: 3.451000 deg,
      approach rate: -0.556801 m/s,
      LOS rate: 0.143655 deg/s,
      cmd heading: 15.695696 deg,
      new cmd heading: 15.853436 deg.

2025-08-21T07:18:43.501Z,1755760723.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.276695 target range: 9.845448 and range: 6.00 m.
2025-08-21T07:18:43.629Z,1755760723.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997411
2025-08-21T07:18:43.880Z,1755760723.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248596
2025-08-21T07:18:43.892Z,1755760723.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:43.894Z,1755760723.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 4.584564 m,
      bearing: 3.518370 deg,
      approach rate: -0.554601 m/s,
      LOS rate: 0.177522 deg/s,
      cmd heading: 15.853436 deg,
      new cmd heading: 16.065268 deg.

2025-08-21T07:18:43.903Z,1755760723.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.280392 target range: 9.845448 and range: 6.00 m.
2025-08-21T07:18:44.133Z,1755760724.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500866
2025-08-21T07:18:44.318Z,1755760724.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:44.321Z,1755760724.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 4.326585 m,
      bearing: 3.524569 deg,
      approach rate: -0.604906 m/s,
      LOS rate: 0.015404 deg/s,
      cmd heading: 16.065267 deg,
      new cmd heading: 16.084975 deg.

2025-08-21T07:18:44.322Z,1755760724.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.280736 target range: 9.845448 and range: 6.00 m.
2025-08-21T07:18:44.385Z,1755760724.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753017
2025-08-21T07:18:44.636Z,1755760724.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004533
2025-08-21T07:18:44.684Z,1755760724.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:44.687Z,1755760724.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 4.113317 m,
      bearing: 3.542598 deg,
      approach rate: -0.581952 m/s,
      LOS rate: 0.051747 deg/s,
      cmd heading: 16.084976 deg,
      new cmd heading: 16.141867 deg.

2025-08-21T07:18:44.688Z,1755760724.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.281729 target range: 9.845448 and range: 6.00 m.
2025-08-21T07:18:44.888Z,1755760724.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256488
2025-08-21T07:18:45.113Z,1755760725.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:45.132Z,1755760725.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 3.865391 m,
      bearing: 3.535894 deg,
      approach rate: -0.578635 m/s,
      LOS rate: -0.016651 deg/s,
      cmd heading: 16.141868 deg,
      new cmd heading: 16.120465 deg.

2025-08-21T07:18:45.133Z,1755760725.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.281355 target range: 9.845448 and range: 6.00 m.
2025-08-21T07:18:45.141Z,1755760725.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509436
2025-08-21T07:18:45.392Z,1755760725.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760587
2025-08-21T07:18:45.501Z,1755760725.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:45.504Z,1755760725.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:45.506Z,1755760725.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 3.639909 m,
      bearing: 3.537039 deg,
      approach rate: -0.577252 m/s,
      LOS rate: 0.003112 deg/s,
      cmd heading: 16.120466 deg,
      new cmd heading: 16.124112 deg.

2025-08-21T07:18:45.507Z,1755760725.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.281419 target range: 9.845448 and range: 6.00 m.
2025-08-21T07:18:45.644Z,1755760725.644 [DAT](INFO): DAT read: Rx Time:07:18:44.3274

2025-08-21T07:18:45.645Z,1755760725.645 [DAT](INFO): Rx dataTimestamp_ set to:1755760725.644463
2025-08-21T07:18:45.645Z,1755760725.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013641
2025-08-21T07:18:45.896Z,1755760725.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264646
2025-08-21T07:18:45.917Z,1755760725.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:45.927Z,1755760725.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 3.411108 m,
      bearing: 3.543879 deg,
      approach rate: -0.553233 m/s,
      LOS rate: 0.017647 deg/s,
      cmd heading: 16.124113 deg,
      new cmd heading: 16.146008 deg.

2025-08-21T07:18:45.932Z,1755760725.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.281801 target range: 9.845448 and range: 6.00 m.
2025-08-21T07:18:46.156Z,1755760726.156 [DAT](INFO): DAT read: 07:18:44.3274 LVL= 23648, 22257, 32754, 24739, AGC= 51, IDX= 424,-0.13, 1.600,-2.680, 1.999, 3.009, PHS=-1.306, 0.640,-1.054, RAW= 323.1,  18.4, CAL= 322.6,  23.1, ROT= 187.4, -23.1

2025-08-21T07:18:46.158Z,1755760726.158 [DAT](INFO): got valid direction response:
 07:18:44.3274 LVL= 23648, 22257, 32754, 24739, AGC= 51, IDX= 424,-0.13, 1.600,-2.680, 1.999, 3.009, PHS=-1.306, 0.640,-1.054, RAW= 323.1,  18.4, CAL= 322.6,  23.1, ROT= 187.4, -23.1

2025-08-21T07:18:46.163Z,1755760726.163 [DAT](INFO): DAT read: Bearing 331.7,  -7.9 (Local)

2025-08-21T07:18:46.164Z,1755760726.164 [DAT](INFO): Local bearing/azimuth received:
 Bearing 331.7,  -7.9 (Local)

2025-08-21T07:18:46.166Z,1755760726.166 [DAT](INFO): DAT read: Range 11 to 50 : 4.3 m  (Round-trip  5.8 ms) speed  0.4 m/s

2025-08-21T07:18:46.167Z,1755760726.167 [DAT](INFO): DAT read: user:2190>

2025-08-21T07:18:46.172Z,1755760726.172 [DAT](INFO): DAT read: Tx time:07:18:45.4174

2025-08-21T07:18:46.172Z,1755760726.172 [DAT](INFO): Ping request sent.
2025-08-21T07:18:46.173Z,1755760726.173 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:46.173Z,1755760726.173 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:46.175Z,1755760726.175 [DAT](INFO): direction in FSK: [-0.912160,-0.118469,0.392337]
2025-08-21T07:18:46.186Z,1755760726.186 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:46.186Z,1755760726.186 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:46.203Z,1755760726.203 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:46.203Z,1755760726.203 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:46.432Z,1755760726.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.300000 m,
      deltaT: 3.528387 s,
      deltaX: -1.700000 m,
      approachRate: -0.481807 m/s,
      rangeRepo size: 4

2025-08-21T07:18:46.434Z,1755760726.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.276300 m,
      bearing: 203.997196 deg,
      lat: 36.779400 deg,
      lon: -121.859411 deg,
      deltaT: 10.587935 s,
      deltaX: -5.569149 m,
      approachRate: -0.525990 m/s,
      posRepo size: 4

2025-08-21T07:18:46.439Z,1755760726.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.28 m. 9.85 m.
2025-08-21T07:18:46.442Z,1755760726.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 3.106105 m,
      bearing: 3.423947 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.107413 deg/s,
      cmd heading: 16.146009 deg,
      new cmd heading: 15.981462 deg.

2025-08-21T07:18:46.443Z,1755760726.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.278929 target range: 9.845448 and range: 4.30 m.
2025-08-21T07:18:46.798Z,1755760726.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:46.805Z,1755760726.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 2.884938 m,
      bearing: 3.322330 deg,
      approach rate: -0.596932 m/s,
      LOS rate: -0.295293 deg/s,
      cmd heading: 15.981463 deg,
      new cmd heading: 15.653242 deg.

2025-08-21T07:18:46.806Z,1755760726.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273201 target range: 9.845448 and range: 4.30 m.
2025-08-21T07:18:47.221Z,1755760727.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:47.240Z,1755760727.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 2.611548 m,
      bearing: 3.260676 deg,
      approach rate: -0.647236 m/s,
      LOS rate: -0.161242 deg/s,
      cmd heading: 15.653243 deg,
      new cmd heading: 15.448920 deg.

2025-08-21T07:18:47.241Z,1755760727.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.269635 target range: 9.845448 and range: 4.30 m.
2025-08-21T07:18:47.663Z,1755760727.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:47.666Z,1755760727.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:47.668Z,1755760727.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 2.333004 m,
      bearing: 3.182731 deg,
      approach rate: -0.625677 m/s,
      LOS rate: -0.195987 deg/s,
      cmd heading: 15.448920 deg,
      new cmd heading: 15.187169 deg.

2025-08-21T07:18:47.669Z,1755760727.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265066 target range: 9.845448 and range: 4.30 m.
2025-08-21T07:18:47.912Z,1755760727.912 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:47.912Z,1755760727.912 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:47.912Z,1755760727.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:48.132Z,1755760728.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:48.135Z,1755760728.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 2.043612 m,
      bearing: 3.138242 deg,
      approach rate: -0.620350 m/s,
      LOS rate: -0.108874 deg/s,
      cmd heading: 15.187168 deg,
      new cmd heading: 15.034800 deg.

2025-08-21T07:18:48.136Z,1755760728.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262407 target range: 9.845448 and range: 4.30 m.
2025-08-21T07:18:48.165Z,1755760728.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992432
2025-08-21T07:18:48.416Z,1755760728.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243720
2025-08-21T07:18:48.622Z,1755760728.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:48.624Z,1755760728.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 1.744566 m,
      bearing: 3.078239 deg,
      approach rate: -0.611307 m/s,
      LOS rate: -0.143683 deg/s,
      cmd heading: 15.034800 deg,
      new cmd heading: 14.823936 deg.

2025-08-21T07:18:48.625Z,1755760728.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.258727 target range: 9.845448 and range: 4.30 m.
2025-08-21T07:18:48.668Z,1755760728.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495812
2025-08-21T07:18:48.926Z,1755760728.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752673
2025-08-21T07:18:49.128Z,1755760729.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:49.131Z,1755760729.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 1.467856 m,
      bearing: 2.998061 deg,
      approach rate: -0.546056 m/s,
      LOS rate: -0.188048 deg/s,
      cmd heading: 14.823937 deg,
      new cmd heading: 14.538064 deg.

2025-08-21T07:18:49.136Z,1755760729.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253737 target range: 9.845448 and range: 4.30 m.
2025-08-21T07:18:49.173Z,1755760729.173 [DAT](INFO): DAT read: Rx Time:07:18:47.8251

2025-08-21T07:18:49.174Z,1755760729.174 [DAT](INFO): Rx dataTimestamp_ set to:1755760729.173518
2025-08-21T07:18:49.175Z,1755760729.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002117
2025-08-21T07:18:49.424Z,1755760729.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251659
2025-08-21T07:18:49.588Z,1755760729.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.85 m. 9.85 m.
2025-08-21T07:18:49.590Z,1755760729.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.845448 m,
      nav range: 1.135392 m,
      bearing: 2.894203 deg,
      approach rate: -0.724429 m/s,
      LOS rate: -0.292571 deg/s,
      cmd heading: 14.538064 deg,
      new cmd heading: 14.135260 deg.

2025-08-21T07:18:49.591Z,1755760729.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246707 target range: 9.845448 and range: 4.30 m.
2025-08-21T07:18:49.684Z,1755760729.684 [DAT](INFO): DAT read: 07:18:47.8251 LVL= 32752, 24017, 32754, 32755, AGC= 52, IDX= 423, 0.23, 1.594, 3.140, 1.747, 2.578, PHS=-0.882, 0.606,-0.875, RAW= 329.8,  15.3, CAL= 329.7,  19.6, ROT= 180.3, -19.6

2025-08-21T07:18:49.685Z,1755760729.685 [DAT](INFO): got valid direction response:
 07:18:47.8251 LVL= 32752, 24017, 32754, 32755, AGC= 52, IDX= 423, 0.23, 1.594, 3.140, 1.747, 2.578, PHS=-0.882, 0.606,-0.875, RAW= 329.8,  15.3, CAL= 329.7,  19.6, ROT= 180.3, -19.6

2025-08-21T07:18:49.686Z,1755760729.686 [DAT](INFO): DAT read: Bearing 335.2,  -1.7 (Local)

2025-08-21T07:18:49.686Z,1755760729.686 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.2,  -1.7 (Local)

2025-08-21T07:18:49.688Z,1755760729.688 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m  (Round-trip  3.6 ms) speed  0.3 m/s

2025-08-21T07:18:49.689Z,1755760729.689 [DAT](INFO): DAT read: user:2191>

2025-08-21T07:18:49.690Z,1755760729.690 [DAT](INFO): DAT read: Tx time:07:18:48.9174

2025-08-21T07:18:49.690Z,1755760729.690 [DAT](INFO): Ping request sent.
2025-08-21T07:18:49.690Z,1755760729.690 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:49.690Z,1755760729.690 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:49.692Z,1755760729.692 [DAT](INFO): direction in FSK: [-0.942045,-0.004933,0.335452]
2025-08-21T07:18:49.693Z,1755760729.693 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:49.693Z,1755760729.693 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:49.700Z,1755760729.700 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:49.700Z,1755760729.700 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:49.944Z,1755760729.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 3.528134 s,
      deltaX: -1.600000 m,
      approachRate: -0.453498 m/s,
      rangeRepo size: 4

2025-08-21T07:18:49.946Z,1755760729.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.685128 m,
      bearing: 197.141459 deg,
      lat: 36.779391 deg,
      lon: -121.859411 deg,
      deltaT: 14.116069 s,
      deltaX: -7.160320 m,
      approachRate: -0.507246 m/s,
      posRepo size: 4

2025-08-21T07:18:49.947Z,1755760729.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-08-21T07:18:49.951Z,1755760729.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-21T07:18:50.349Z,1755760730.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:50.433Z,1755760730.433 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:50.433Z,1755760730.433 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:50.433Z,1755760730.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:50.684Z,1755760730.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994151
2025-08-21T07:18:50.940Z,1755760730.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249509
2025-08-21T07:18:51.189Z,1755760731.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498498
2025-08-21T07:18:51.440Z,1755760731.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750164
2025-08-21T07:18:51.692Z,1755760731.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002054
2025-08-21T07:18:51.944Z,1755760731.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254234
2025-08-21T07:18:52.196Z,1755760732.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506145
2025-08-21T07:18:52.385Z,1755760732.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:52.449Z,1755760732.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759287
2025-08-21T07:18:52.700Z,1755760732.700 [DAT](INFO): DAT read: Rx Time:07:18:51.3245

2025-08-21T07:18:52.701Z,1755760732.701 [DAT](INFO): Rx dataTimestamp_ set to:1755760732.700366
2025-08-21T07:18:52.701Z,1755760732.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011124
2025-08-21T07:18:52.893Z,1755760732.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.70 m.
2025-08-21T07:18:52.894Z,1755760732.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.70 m.
2025-08-21T07:18:52.894Z,1755760732.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-08-21T07:18:52.953Z,1755760732.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262878
2025-08-21T07:18:53.210Z,1755760733.210 [DAT](INFO): DAT read: 07:18:51.3245 LVL= 24480, 13617, 30066, 27699, AGC= 44, IDX= 442, 0.21, 0.370, 0.378,-0.925, 1.197, PHS=-0.725,-0.775,-2.166, RAW=  31.7,  42.5, CAL=  29.8,  47.7, ROT= 120.2, -47.7

2025-08-21T07:18:53.211Z,1755760733.211 [DAT](INFO): got valid direction response:
 07:18:51.3245 LVL= 24480, 13617, 30066, 27699, AGC= 44, IDX= 442, 0.21, 0.370, 0.378,-0.925, 1.197, PHS=-0.725,-0.775,-2.166, RAW=  31.7,  42.5, CAL=  29.8,  47.7, ROT= 120.2, -47.7

2025-08-21T07:18:53.212Z,1755760733.212 [DAT](INFO): DAT read: Bearing 301.6,  39.0 (Local)

2025-08-21T07:18:53.212Z,1755760733.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.6,  39.0 (Local)

2025-08-21T07:18:53.215Z,1755760733.215 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:18:53.216Z,1755760733.216 [DAT](INFO): DAT read: user:2192>

2025-08-21T07:18:53.218Z,1755760733.218 [DAT](INFO): DAT read: Tx time:07:18:52.4174

2025-08-21T07:18:53.219Z,1755760733.219 [DAT](INFO): Ping request sent.
2025-08-21T07:18:53.219Z,1755760733.219 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:53.228Z,1755760733.228 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:53.230Z,1755760733.230 [DAT](INFO): direction in FSK: [-0.338539,0.581668,0.739631]
2025-08-21T07:18:53.230Z,1755760733.230 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:53.230Z,1755760733.230 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:53.264Z,1755760733.264 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:53.264Z,1755760733.264 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:53.354Z,1755760733.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.527550 s,
      deltaX: -0.600000 m,
      approachRate: -0.170090 m/s,
      rangeRepo size: 4

2025-08-21T07:18:53.368Z,1755760733.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088420 m,
      bearing: 156.798769 deg,
      lat: 36.779391 deg,
      lon: -121.859410 deg,
      deltaT: 3.527550 s,
      deltaX: -0.596708 m,
      approachRate: -0.169156 m/s,
      posRepo size: 4

2025-08-21T07:18:53.369Z,1755760733.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.10 m.
2025-08-21T07:18:54.417Z,1755760734.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:54.465Z,1755760734.465 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:54.465Z,1755760734.465 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:54.466Z,1755760734.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:54.718Z,1755760734.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498578
2025-08-21T07:18:54.968Z,1755760734.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749713
2025-08-21T07:18:55.222Z,1755760735.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002815
2025-08-21T07:18:55.472Z,1755760735.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253350
2025-08-21T07:18:55.725Z,1755760735.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506163
2025-08-21T07:18:55.976Z,1755760735.976 [DAT](INFO): DAT read: Rx Time:07:18:54.8245

2025-08-21T07:18:55.977Z,1755760735.977 [DAT](INFO): Rx dataTimestamp_ set to:1755760735.976498
2025-08-21T07:18:55.977Z,1755760735.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758557
2025-08-21T07:18:56.232Z,1755760736.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012987
2025-08-21T07:18:56.450Z,1755760736.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:56.481Z,1755760736.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261770
2025-08-21T07:18:56.741Z,1755760736.741 [DAT](INFO): DAT read: 07:18:54.8245 LVL= 30016, 13089, 21474, 25011, AGC= 43, IDX= 443, 0.41,-1.969,-2.066, 3.065,-0.959, PHS=-0.908,-1.062,-2.304, RAW=  35.8,  48.7, CAL=  34.0,  53.4, ROT= 116.0, -53.4

2025-08-21T07:18:56.742Z,1755760736.742 [DAT](INFO): got valid direction response:
 07:18:54.8245 LVL= 30016, 13089, 21474, 25011, AGC= 43, IDX= 443, 0.41,-1.969,-2.066, 3.065,-0.959, PHS=-0.908,-1.062,-2.304, RAW=  35.8,  48.7, CAL=  34.0,  53.4, ROT= 116.0, -53.4

2025-08-21T07:18:56.743Z,1755760736.743 [DAT](INFO): DAT read: Bearing 312.7,  33.1 (Local)

2025-08-21T07:18:56.743Z,1755760736.743 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.7,  33.1 (Local)

2025-08-21T07:18:56.776Z,1755760736.776 [DAT](INFO): DAT read: Range 11 to 50 : 2.2 m  (Round-trip  3.0 ms) speed  0.0 m/s

2025-08-21T07:18:56.776Z,1755760736.776 [DAT](INFO): DAT read: user:2193>

2025-08-21T07:18:56.777Z,1755760736.777 [DAT](INFO): DAT read: Tx time:07:18:55.9173

2025-08-21T07:18:56.777Z,1755760736.777 [DAT](INFO): Ping request sent.
2025-08-21T07:18:56.777Z,1755760736.777 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:18:56.778Z,1755760736.778 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:18:56.779Z,1755760736.779 [DAT](INFO): direction in FSK: [-0.261368,0.535883,0.802817]
2025-08-21T07:18:56.803Z,1755760736.803 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:56.803Z,1755760736.803 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:56.806Z,1755760736.806 [DAT](INFO): publishing transmit ping time
2025-08-21T07:18:56.807Z,1755760736.807 [DAT](INFO): publishing direction and range info
2025-08-21T07:18:56.879Z,1755760736.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.200000 m,
      deltaT: 3.528878 s,
      deltaX: 0.100000 m,
      approachRate: 0.028338 m/s,
      rangeRepo size: 4

2025-08-21T07:18:56.881Z,1755760736.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.187874 m,
      bearing: 170.129599 deg,
      lat: 36.779391 deg,
      lon: -121.859401 deg,
      deltaT: 3.528878 s,
      deltaX: 0.099453 m,
      approachRate: 0.028183 m/s,
      posRepo size: 4

2025-08-21T07:18:58.500Z,1755760738.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:18:58.749Z,1755760738.749 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:18:58.749Z,1755760738.749 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:18:58.749Z,1755760738.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:18:59.000Z,1755760739.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222796
2025-08-21T07:18:59.255Z,1755760739.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.476846
2025-08-21T07:18:59.505Z,1755760739.505 [DAT](INFO): DAT read: Rx Time:07:18:58.3244

2025-08-21T07:18:59.505Z,1755760739.505 [DAT](INFO): Rx dataTimestamp_ set to:1755760739.504768
2025-08-21T07:18:59.506Z,1755760739.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.728135
2025-08-21T07:18:59.756Z,1755760739.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.978976
2025-08-21T07:19:00.012Z,1755760740.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.233788
2025-08-21T07:19:00.275Z,1755760740.275 [DAT](INFO): DAT read: 07:18:58.3244 LVL= 26704, 10993, 30546, 29683, AGC= 42, IDX= 442, 0.25,-1.471,-1.697,-2.820,-0.683, PHS=-0.686,-0.970,-2.181, RAW=  40.3,  44.6, CAL=  38.2,  49.9, ROT= 111.8, -49.9

2025-08-21T07:19:00.276Z,1755760740.276 [DAT](INFO): got valid direction response:
 07:18:58.3244 LVL= 26704, 10993, 30546, 29683, AGC= 42, IDX= 442, 0.25,-1.471,-1.697,-2.820,-0.683, PHS=-0.686,-0.970,-2.181, RAW=  40.3,  44.6, CAL=  38.2,  49.9, ROT= 111.8, -49.9

2025-08-21T07:19:00.277Z,1755760740.277 [DAT](INFO): DAT read: Bearing 334.6,  41.3 (Local)

2025-08-21T07:19:00.277Z,1755760740.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.6,  41.3 (Local)

2025-08-21T07:19:00.278Z,1755760740.278 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:19:00.279Z,1755760740.279 [DAT](INFO): DAT read: user:2194>

2025-08-21T07:19:00.280Z,1755760740.280 [DAT](INFO): DAT read: Tx time:07:18:59.4173

2025-08-21T07:19:00.280Z,1755760740.280 [DAT](INFO): Ping request sent.
2025-08-21T07:19:00.280Z,1755760740.280 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:00.281Z,1755760740.281 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:00.282Z,1755760740.282 [DAT](INFO): direction in FSK: [-0.239207,0.598060,0.764921]
2025-08-21T07:19:00.282Z,1755760740.282 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:00.282Z,1755760740.282 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:00.286Z,1755760740.286 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:00.286Z,1755760740.286 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:00.524Z,1755760740.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.529884 s,
      deltaX: -0.100000 m,
      approachRate: -0.028330 m/s,
      rangeRepo size: 4

2025-08-21T07:19:00.526Z,1755760740.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088415 m,
      bearing: 185.052509 deg,
      lat: 36.779387 deg,
      lon: -121.859405 deg,
      deltaT: 3.529884 s,
      deltaX: -0.099458 m,
      approachRate: -0.028176 m/s,
      posRepo size: 4

2025-08-21T07:19:00.527Z,1755760740.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.10 m.
2025-08-21T07:19:00.893Z,1755760740.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:01.016Z,1755760741.016 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:01.016Z,1755760741.016 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:01.017Z,1755760741.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:01.271Z,1755760741.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990338
2025-08-21T07:19:01.520Z,1755760741.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239981
2025-08-21T07:19:01.772Z,1755760741.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491965
2025-08-21T07:19:02.026Z,1755760742.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745309
2025-08-21T07:19:02.280Z,1755760742.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998401
2025-08-21T07:19:02.528Z,1755760742.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248022
2025-08-21T07:19:02.782Z,1755760742.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501144
2025-08-21T07:19:02.916Z,1755760742.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:03.033Z,1755760743.033 [DAT](INFO): DAT read: Rx Time:07:19:01.8244

2025-08-21T07:19:03.034Z,1755760743.034 [DAT](INFO): Rx dataTimestamp_ set to:1755760743.033536
2025-08-21T07:19:03.034Z,1755760743.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754041
2025-08-21T07:19:03.288Z,1755760743.288 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007171
2025-08-21T07:19:03.548Z,1755760743.548 [DAT](INFO): DAT read: 07:19:01.8244 LVL= 29744, 10657, 26098, 31443, AGC= 43, IDX= 442, 0.16,-2.808,-2.668, 2.220,-1.869, PHS=-0.837,-0.754,-2.238, RAW=  27.2,  43.1, CAL=  25.4,  48.3, ROT= 124.6, -48.3

2025-08-21T07:19:03.549Z,1755760743.549 [DAT](INFO): got valid direction response:
 07:19:01.8244 LVL= 29744, 10657, 26098, 31443, AGC= 43, IDX= 442, 0.16,-2.808,-2.668, 2.220,-1.869, PHS=-0.837,-0.754,-2.238, RAW=  27.2,  43.1, CAL=  25.4,  48.3, ROT= 124.6, -48.3

2025-08-21T07:19:03.550Z,1755760743.550 [DAT](INFO): DAT read: Bearing 353.7,  36.8 (Local)

2025-08-21T07:19:03.551Z,1755760743.551 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.7,  36.8 (Local)

2025-08-21T07:19:03.552Z,1755760743.552 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:19:03.553Z,1755760743.553 [DAT](INFO): DAT read: user:2195>

2025-08-21T07:19:03.554Z,1755760743.554 [DAT](INFO): DAT read: Tx time:07:19:02.9173

2025-08-21T07:19:03.554Z,1755760743.554 [DAT](INFO): Ping request sent.
2025-08-21T07:19:03.554Z,1755760743.554 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:03.555Z,1755760743.555 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:03.556Z,1755760743.556 [DAT](INFO): direction in FSK: [-0.377747,0.547575,0.746638]
2025-08-21T07:19:03.556Z,1755760743.556 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:03.556Z,1755760743.556 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:03.560Z,1755760743.560 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:03.560Z,1755760743.560 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:03.791Z,1755760743.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.274595 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:03.797Z,1755760743.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088413 m,
      bearing: 204.225193 deg,
      lat: 36.779387 deg,
      lon: -121.859405 deg,
      deltaT: 3.274595 s,
      deltaX: -0.000002 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-08-21T07:19:05.234Z,1755760745.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:05.302Z,1755760745.302 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:05.303Z,1755760745.303 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:05.304Z,1755760745.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:05.553Z,1755760745.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998855
2025-08-21T07:19:05.804Z,1755760745.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250060
2025-08-21T07:19:06.080Z,1755760746.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525810
2025-08-21T07:19:06.335Z,1755760746.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.780197
2025-08-21T07:19:06.585Z,1755760746.585 [DAT](INFO): DAT read: Rx Time:07:19:05.3244

2025-08-21T07:19:06.586Z,1755760746.586 [DAT](INFO): Rx dataTimestamp_ set to:1755760746.585353
2025-08-21T07:19:06.587Z,1755760746.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032174
2025-08-21T07:19:06.836Z,1755760746.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281954
2025-08-21T07:19:07.097Z,1755760747.097 [DAT](INFO): DAT read: 07:19:05.3244 LVL= 32752, 12081, 23842, 32755, AGC= 45, IDX= 442, 0.20, 1.475, 1.673, 0.385, 2.571, PHS=-0.994,-0.853,-2.230, RAW=  24.7,  47.7, CAL=  23.2,  52.4, ROT= 126.8, -52.4

2025-08-21T07:19:07.098Z,1755760747.098 [DAT](INFO): got valid direction response:
 07:19:05.3244 LVL= 32752, 12081, 23842, 32755, AGC= 45, IDX= 442, 0.20, 1.475, 1.673, 0.385, 2.571, PHS=-0.994,-0.853,-2.230, RAW=  24.7,  47.7, CAL=  23.2,  52.4, ROT= 126.8, -52.4

2025-08-21T07:19:07.099Z,1755760747.099 [DAT](INFO): DAT read: Bearing 353.0,  32.2 (Local)

2025-08-21T07:19:07.108Z,1755760747.108 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.0,  32.2 (Local)

2025-08-21T07:19:07.109Z,1755760747.109 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:19:07.110Z,1755760747.110 [DAT](INFO): DAT read: user:2196>

2025-08-21T07:19:07.111Z,1755760747.111 [DAT](INFO): DAT read: Tx time:07:19:06.4173

2025-08-21T07:19:07.127Z,1755760747.127 [DAT](INFO): Ping request sent.
2025-08-21T07:19:07.127Z,1755760747.127 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:07.128Z,1755760747.128 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:07.129Z,1755760747.129 [DAT](INFO): direction in FSK: [-0.365491,0.488562,0.792290]
2025-08-21T07:19:07.130Z,1755760747.130 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:07.130Z,1755760747.130 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:07.143Z,1755760747.143 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:07.155Z,1755760747.155 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:07.205Z,1755760747.205 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:19:07.322Z,1755760747.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.550613 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:07.335Z,1755760747.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088426 m,
      bearing: 207.786838 deg,
      lat: 36.779388 deg,
      lon: -121.859404 deg,
      deltaT: 3.550613 s,
      deltaX: 0.000013 m,
      approachRate: 0.000004 m/s,
      posRepo size: 4

2025-08-21T07:19:07.752Z,1755760747.752 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:07.844Z,1755760747.844 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:07.844Z,1755760747.844 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:07.844Z,1755760747.844 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:08.096Z,1755760748.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.985223
2025-08-21T07:19:08.208Z,1755760748.208 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:19:08.351Z,1755760748.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239475
2025-08-21T07:19:08.605Z,1755760748.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493876
2025-08-21T07:19:08.856Z,1755760748.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745110
2025-08-21T07:19:09.109Z,1755760749.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997450
2025-08-21T07:19:09.363Z,1755760749.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251138
2025-08-21T07:19:09.612Z,1755760749.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501133
2025-08-21T07:19:09.813Z,1755760749.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:09.865Z,1755760749.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753825
2025-08-21T07:19:10.116Z,1755760750.116 [DAT](INFO): DAT read: Rx Time:07:19:08.8244

2025-08-21T07:19:10.117Z,1755760750.117 [DAT](INFO): Rx dataTimestamp_ set to:1755760750.116527
2025-08-21T07:19:10.117Z,1755760750.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006246
2025-08-21T07:19:10.371Z,1755760750.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259384
2025-08-21T07:19:10.634Z,1755760750.634 [DAT](INFO): DAT read: 07:19:08.8244 LVL= 31264, 11361, 25922, 31267, AGC= 45, IDX= 442, 0.22, 1.497, 1.544, 0.264, 2.502, PHS=-0.903,-0.912,-2.282, RAW=  30.4,  46.5, CAL=  28.6,  51.3, ROT= 121.4, -51.3

2025-08-21T07:19:10.640Z,1755760750.640 [DAT](INFO): got valid direction response:
 07:19:08.8244 LVL= 31264, 11361, 25922, 31267, AGC= 45, IDX= 442, 0.22, 1.497, 1.544, 0.264, 2.502, PHS=-0.903,-0.912,-2.282, RAW=  30.4,  46.5, CAL=  28.6,  51.3, ROT= 121.4, -51.3

2025-08-21T07:19:10.641Z,1755760750.641 [DAT](INFO): DAT read: Bearing 351.7,  37.4 (Local)

2025-08-21T07:19:10.642Z,1755760750.642 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.7,  37.4 (Local)

2025-08-21T07:19:10.644Z,1755760750.644 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:19:10.645Z,1755760750.645 [DAT](INFO): DAT read: user:2197>

2025-08-21T07:19:10.646Z,1755760750.646 [DAT](INFO): DAT read: Tx time:07:19:09.9173

2025-08-21T07:19:10.646Z,1755760750.646 [DAT](INFO): Ping request sent.
2025-08-21T07:19:10.647Z,1755760750.647 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:10.647Z,1755760750.647 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:10.674Z,1755760750.674 [DAT](INFO): direction in FSK: [-0.325757,0.533676,0.780430]
2025-08-21T07:19:10.675Z,1755760750.675 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:10.675Z,1755760750.675 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:10.682Z,1755760750.682 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:10.682Z,1755760750.682 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:10.946Z,1755760750.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.531928 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:10.948Z,1755760750.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088421 m,
      bearing: 203.503389 deg,
      lat: 36.779388 deg,
      lon: -121.859404 deg,
      deltaT: 3.531928 s,
      deltaX: -0.000005 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-08-21T07:19:12.196Z,1755760752.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:12.396Z,1755760752.396 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:12.397Z,1755760752.397 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:12.397Z,1755760752.397 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:12.643Z,1755760752.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996510
2025-08-21T07:19:12.892Z,1755760752.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245795
2025-08-21T07:19:13.145Z,1755760753.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498505
2025-08-21T07:19:13.396Z,1755760753.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.749864
2025-08-21T07:19:13.649Z,1755760753.649 [DAT](INFO): DAT read: Rx Time:07:19:12.3243

2025-08-21T07:19:13.649Z,1755760753.649 [DAT](INFO): Rx dataTimestamp_ set to:1755760753.648887
2025-08-21T07:19:13.650Z,1755760753.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003355
2025-08-21T07:19:13.905Z,1755760753.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257984
2025-08-21T07:19:14.167Z,1755760754.167 [DAT](INFO): DAT read: 07:19:12.3243 LVL= 27728, 10657, 24786, 32355, AGC= 44, IDX= 441, 0.28,-0.620,-0.624,-1.866, 0.314, PHS=-0.832,-0.893,-2.225, RAW=  32.2,  45.7, CAL=  30.4,  50.6, ROT= 119.6, -50.6

2025-08-21T07:19:14.169Z,1755760754.169 [DAT](INFO): got valid direction response:
 07:19:12.3243 LVL= 27728, 10657, 24786, 32355, AGC= 44, IDX= 441, 0.28,-0.620,-0.624,-1.866, 0.314, PHS=-0.832,-0.893,-2.225, RAW=  32.2,  45.7, CAL=  30.4,  50.6, ROT= 119.6, -50.6

2025-08-21T07:19:14.170Z,1755760754.170 [DAT](INFO): DAT read: Bearing 351.8,  37.7 (Local)

2025-08-21T07:19:14.171Z,1755760754.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.8,  37.7 (Local)

2025-08-21T07:19:14.188Z,1755760754.188 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:19:14.189Z,1755760754.189 [DAT](INFO): DAT read: user:2198>

2025-08-21T07:19:14.190Z,1755760754.190 [DAT](INFO): DAT read: Tx time:07:19:13.4173

2025-08-21T07:19:14.190Z,1755760754.190 [DAT](INFO): Ping request sent.
2025-08-21T07:19:14.190Z,1755760754.190 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:14.191Z,1755760754.191 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:14.200Z,1755760754.200 [DAT](INFO): direction in FSK: [-0.313520,0.551895,0.772734]
2025-08-21T07:19:14.200Z,1755760754.200 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:14.200Z,1755760754.200 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:14.220Z,1755760754.220 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:14.220Z,1755760754.220 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:14.317Z,1755760754.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.532593 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:14.324Z,1755760754.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088418 m,
      bearing: 201.813707 deg,
      lat: 36.779387 deg,
      lon: -121.859404 deg,
      deltaT: 3.532593 s,
      deltaX: -0.000003 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-08-21T07:19:14.746Z,1755760754.746 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:14.908Z,1755760754.908 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:14.908Z,1755760754.908 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:14.908Z,1755760754.908 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:15.161Z,1755760755.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.970870
2025-08-21T07:19:15.412Z,1755760755.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.221881
2025-08-21T07:19:15.666Z,1755760755.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475521
2025-08-21T07:19:15.916Z,1755760755.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726006
2025-08-21T07:19:16.171Z,1755760756.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980577
2025-08-21T07:19:16.420Z,1755760756.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.229914
2025-08-21T07:19:16.673Z,1755760756.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.482692
2025-08-21T07:19:16.765Z,1755760756.765 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:16.924Z,1755760756.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733827
2025-08-21T07:19:17.178Z,1755760757.178 [DAT](INFO): DAT read: Rx Time:07:19:15.8243

2025-08-21T07:19:17.178Z,1755760757.178 [DAT](INFO): Rx dataTimestamp_ set to:1755760757.178171
2025-08-21T07:19:17.179Z,1755760757.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989010
2025-08-21T07:19:17.428Z,1755760757.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237917
2025-08-21T07:19:17.687Z,1755760757.687 [DAT](INFO): DAT read: 07:19:15.8243 LVL= 30800,  9921, 24002, 32755, AGC= 43, IDX= 441, 0.32,-2.167,-2.001, 2.953,-1.207, PHS=-0.858,-0.749,-2.167, RAW=  26.0,  44.3, CAL=  24.4,  49.4, ROT= 125.6, -49.4

2025-08-21T07:19:17.692Z,1755760757.692 [DAT](INFO): got valid direction response:
 07:19:15.8243 LVL= 30800,  9921, 24002, 32755, AGC= 43, IDX= 441, 0.32,-2.167,-2.001, 2.953,-1.207, PHS=-0.858,-0.749,-2.167, RAW=  26.0,  44.3, CAL=  24.4,  49.4, ROT= 125.6, -49.4

2025-08-21T07:19:17.692Z,1755760757.692 [DAT](INFO): DAT read: Bearing 357.0,  34.4 (Local)

2025-08-21T07:19:17.693Z,1755760757.693 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.0,  34.4 (Local)

2025-08-21T07:19:17.694Z,1755760757.694 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:19:17.695Z,1755760757.695 [DAT](INFO): DAT read: user:2199>

2025-08-21T07:19:17.700Z,1755760757.700 [DAT](INFO): DAT read: Tx time:07:19:16.9173

2025-08-21T07:19:17.701Z,1755760757.701 [DAT](INFO): Ping request sent.
2025-08-21T07:19:17.701Z,1755760757.701 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:17.701Z,1755760757.701 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:17.702Z,1755760757.702 [DAT](INFO): direction in FSK: [-0.378831,0.529145,0.759271]
2025-08-21T07:19:17.702Z,1755760757.702 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:17.703Z,1755760757.703 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:17.720Z,1755760757.720 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:17.720Z,1755760757.720 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:17.948Z,1755760757.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.528048 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:17.950Z,1755760757.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088426 m,
      bearing: 209.441179 deg,
      lat: 36.779387 deg,
      lon: -121.859404 deg,
      deltaT: 3.528048 s,
      deltaX: 0.000009 m,
      approachRate: 0.000002 m/s,
      posRepo size: 4

2025-08-21T07:19:18.777Z,1755760758.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:18.940Z,1755760758.940 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:18.940Z,1755760758.940 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:18.940Z,1755760758.940 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:19.192Z,1755760759.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491494
2025-08-21T07:19:19.448Z,1755760759.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746823
2025-08-21T07:19:19.697Z,1755760759.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995782
2025-08-21T07:19:19.948Z,1755760759.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247492
2025-08-21T07:19:20.200Z,1755760760.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499442
2025-08-21T07:19:20.452Z,1755760760.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751459
2025-08-21T07:19:20.704Z,1755760760.704 [DAT](INFO): DAT read: Rx Time:07:19:19.3243

2025-08-21T07:19:20.705Z,1755760760.705 [DAT](INFO): Rx dataTimestamp_ set to:1755760760.704437
2025-08-21T07:19:20.705Z,1755760760.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004479
2025-08-21T07:19:20.813Z,1755760760.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:20.956Z,1755760760.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255550
2025-08-21T07:19:21.233Z,1755760761.233 [DAT](INFO): DAT read: 07:19:19.3243 LVL= 31408, 11617, 27282, 32755, AGC= 43, IDX= 441, 0.40, 2.981, 3.123, 1.767,-2.398, PHS=-0.803,-0.717,-2.162, RAW=  27.0,  42.8, CAL=  25.2,  48.0, ROT= 124.8, -48.0

2025-08-21T07:19:21.235Z,1755760761.235 [DAT](INFO): got valid direction response:
 07:19:19.3243 LVL= 31408, 11617, 27282, 32755, AGC= 43, IDX= 441, 0.40, 2.981, 3.123, 1.767,-2.398, PHS=-0.803,-0.717,-2.162, RAW=  27.0,  42.8, CAL=  25.2,  48.0, ROT= 124.8, -48.0

2025-08-21T07:19:21.236Z,1755760761.236 [DAT](INFO): DAT read: Bearing   0.8,  36.6 (Local)

2025-08-21T07:19:21.237Z,1755760761.237 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.8,  36.6 (Local)

2025-08-21T07:19:21.239Z,1755760761.239 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:19:21.248Z,1755760761.248 [DAT](INFO): DAT read: user:2200>

2025-08-21T07:19:21.249Z,1755760761.249 [DAT](INFO): DAT read: Tx time:07:19:20.4173

2025-08-21T07:19:21.249Z,1755760761.249 [DAT](INFO): Ping request sent.
2025-08-21T07:19:21.249Z,1755760761.249 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:21.249Z,1755760761.249 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:21.250Z,1755760761.250 [DAT](INFO): direction in FSK: [-0.381882,0.549456,0.743145]
2025-08-21T07:19:21.251Z,1755760761.251 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:21.251Z,1755760761.251 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:21.268Z,1755760761.268 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:21.269Z,1755760761.269 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:21.670Z,1755760761.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.544113 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:21.676Z,1755760761.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088421 m,
      bearing: 211.634007 deg,
      lat: 36.779387 deg,
      lon: -121.859404 deg,
      deltaT: 3.544113 s,
      deltaX: -0.000005 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-08-21T07:19:23.197Z,1755760763.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:23.248Z,1755760763.248 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:23.248Z,1755760763.248 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:23.248Z,1755760763.248 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:23.500Z,1755760763.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251034
2025-08-21T07:19:23.753Z,1755760763.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503532
2025-08-21T07:19:24.004Z,1755760764.004 [DAT](INFO): DAT read: Rx Time:07:19:22.8243

2025-08-21T07:19:24.005Z,1755760764.005 [DAT](INFO): Rx dataTimestamp_ set to:1755760764.004593
2025-08-21T07:19:24.005Z,1755760764.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756300
2025-08-21T07:19:24.256Z,1755760764.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006974
2025-08-21T07:19:24.513Z,1755760764.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262799
2025-08-21T07:19:24.774Z,1755760764.774 [DAT](INFO): DAT read: 07:19:22.8243 LVL= 30048, 10977, 24482, 27747, AGC= 43, IDX= 441, 0.43, 1.841, 2.033, 0.595, 2.725, PHS=-0.781,-0.647,-2.173, RAW=  25.4,  41.0, CAL=  23.7,  46.4, ROT= 126.3, -46.4

2025-08-21T07:19:24.788Z,1755760764.788 [DAT](INFO): got valid direction response:
 07:19:22.8243 LVL= 30048, 10977, 24482, 27747, AGC= 43, IDX= 441, 0.43, 1.841, 2.033, 0.595, 2.725, PHS=-0.781,-0.647,-2.173, RAW=  25.4,  41.0, CAL=  23.7,  46.4, ROT= 126.3, -46.4

2025-08-21T07:19:24.789Z,1755760764.789 [DAT](INFO): DAT read: Bearing   7.1,  37.0 (Local)

2025-08-21T07:19:24.789Z,1755760764.789 [DAT](INFO): Local bearing/azimuth received:
 Bearing   7.1,  37.0 (Local)

2025-08-21T07:19:24.791Z,1755760764.791 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:19:24.796Z,1755760764.796 [DAT](INFO): DAT read: user:2201>

2025-08-21T07:19:24.797Z,1755760764.797 [DAT](INFO): DAT read: Tx time:07:19:23.9173

2025-08-21T07:19:24.797Z,1755760764.797 [DAT](INFO): Ping request sent.
2025-08-21T07:19:24.797Z,1755760764.797 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:24.797Z,1755760764.797 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:24.798Z,1755760764.798 [DAT](INFO): direction in FSK: [-0.408264,0.555784,0.724172]
2025-08-21T07:19:24.798Z,1755760764.798 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:24.799Z,1755760764.799 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:24.810Z,1755760764.810 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:24.810Z,1755760764.810 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:24.925Z,1755760764.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.538952 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:24.931Z,1755760764.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088420 m,
      bearing: 216.250404 deg,
      lat: 36.779387 deg,
      lon: -121.859405 deg,
      deltaT: 3.538952 s,
      deltaX: -0.000001 m,
      approachRate: -0.000000 m/s,
      posRepo size: 4

2025-08-21T07:19:25.242Z,1755760765.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:25.265Z,1755760765.265 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:25.265Z,1755760765.265 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:25.265Z,1755760765.265 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:25.516Z,1755760765.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.719326
2025-08-21T07:19:25.769Z,1755760765.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.972191
2025-08-21T07:19:26.020Z,1755760766.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223209
2025-08-21T07:19:26.272Z,1755760766.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.475215
2025-08-21T07:19:26.524Z,1755760766.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727288
2025-08-21T07:19:26.776Z,1755760766.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979530
2025-08-21T07:19:27.028Z,1755760767.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231310
2025-08-21T07:19:27.250Z,1755760767.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:27.280Z,1755760767.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483343
2025-08-21T07:19:27.532Z,1755760767.532 [DAT](INFO): DAT read: Rx Time:07:19:26.3242

2025-08-21T07:19:27.533Z,1755760767.533 [DAT](INFO): Rx dataTimestamp_ set to:1755760767.532676
2025-08-21T07:19:27.533Z,1755760767.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736552
2025-08-21T07:19:27.785Z,1755760767.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.987872
2025-08-21T07:19:28.049Z,1755760768.049 [DAT](INFO): DAT read: 07:19:26.3242 LVL= 30880, 10737, 23282, 28371, AGC= 43, IDX= 441, 0.48, 0.471, 0.724,-0.759, 1.360, PHS=-0.787,-0.591,-2.163, RAW=  23.4,  40.2, CAL=  21.8,  45.7, ROT= 128.2, -45.7

2025-08-21T07:19:28.050Z,1755760768.050 [DAT](INFO): got valid direction response:
 07:19:26.3242 LVL= 30880, 10737, 23282, 28371, AGC= 43, IDX= 441, 0.48, 0.471, 0.724,-0.759, 1.360, PHS=-0.787,-0.591,-2.163, RAW=  23.4,  40.2, CAL=  21.8,  45.7, ROT= 128.2, -45.7

2025-08-21T07:19:28.051Z,1755760768.051 [DAT](INFO): DAT read: Bearing  10.5,  36.3 (Local)

2025-08-21T07:19:28.052Z,1755760768.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.5,  36.3 (Local)

2025-08-21T07:19:28.054Z,1755760768.054 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:19:28.055Z,1755760768.055 [DAT](INFO): DAT read: user:2202>

2025-08-21T07:19:28.055Z,1755760768.055 [DAT](INFO): DAT read: Tx time:07:19:27.4172

2025-08-21T07:19:28.056Z,1755760768.056 [DAT](INFO): Ping request sent.
2025-08-21T07:19:28.056Z,1755760768.056 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:28.056Z,1755760768.056 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:28.057Z,1755760768.057 [DAT](INFO): direction in FSK: [-0.431906,0.548854,0.715693]
2025-08-21T07:19:28.057Z,1755760768.057 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:28.058Z,1755760768.058 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:28.097Z,1755760768.097 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:28.097Z,1755760768.097 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:28.190Z,1755760768.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.274046 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:28.196Z,1755760768.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088422 m,
      bearing: 218.758658 deg,
      lat: 36.779387 deg,
      lon: -121.859406 deg,
      deltaT: 3.274046 s,
      deltaX: 0.000002 m,
      approachRate: 0.000001 m/s,
      posRepo size: 4

2025-08-21T07:19:29.361Z,1755760769.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:29.548Z,1755760769.548 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:29.548Z,1755760769.548 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:29.549Z,1755760769.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:29.800Z,1755760769.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744460
2025-08-21T07:19:30.053Z,1755760770.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996920
2025-08-21T07:19:30.304Z,1755760770.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248482
2025-08-21T07:19:30.556Z,1755760770.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500468
2025-08-21T07:19:30.808Z,1755760770.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752529
2025-08-21T07:19:31.061Z,1755760771.061 [DAT](INFO): DAT read: Rx Time:07:19:29.8242

2025-08-21T07:19:31.061Z,1755760771.061 [DAT](INFO): Rx dataTimestamp_ set to:1755760771.060930
2025-08-21T07:19:31.062Z,1755760771.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005920
2025-08-21T07:19:31.313Z,1755760771.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256697
2025-08-21T07:19:31.372Z,1755760771.372 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:31.571Z,1755760771.571 [DAT](INFO): DAT read: 07:19:29.8242 LVL= 30688, 10529, 23586, 29427, AGC= 43, IDX= 442,-0.37,-2.326,-1.882, 2.748,-1.454, PHS=-0.770,-0.383,-2.125, RAW=  17.8,  36.2, CAL=  16.1,  42.1, ROT= 133.9, -42.1

2025-08-21T07:19:31.572Z,1755760771.572 [DAT](INFO): got valid direction response:
 07:19:29.8242 LVL= 30688, 10529, 23586, 29427, AGC= 43, IDX= 442,-0.37,-2.326,-1.882, 2.748,-1.454, PHS=-0.770,-0.383,-2.125, RAW=  17.8,  36.2, CAL=  16.1,  42.1, ROT= 133.9, -42.1

2025-08-21T07:19:31.573Z,1755760771.573 [DAT](INFO): DAT read: Bearing  16.4,  34.7 (Local)

2025-08-21T07:19:31.574Z,1755760771.574 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.4,  34.7 (Local)

2025-08-21T07:19:31.576Z,1755760771.576 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:19:31.580Z,1755760771.580 [DAT](INFO): DAT read: user:2203>

2025-08-21T07:19:31.581Z,1755760771.581 [DAT](INFO): DAT read: Tx time:07:19:30.9172

2025-08-21T07:19:31.582Z,1755760771.582 [DAT](INFO): Ping request sent.
2025-08-21T07:19:31.582Z,1755760771.582 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:31.582Z,1755760771.582 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:31.584Z,1755760771.584 [DAT](INFO): direction in FSK: [-0.514487,0.534632,0.670427]
2025-08-21T07:19:31.584Z,1755760771.584 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:31.585Z,1755760771.585 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:31.590Z,1755760771.590 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:31.591Z,1755760771.591 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:31.863Z,1755760771.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.526748 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:31.865Z,1755760771.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088422 m,
      bearing: 223.112323 deg,
      lat: 36.779387 deg,
      lon: -121.859408 deg,
      deltaT: 3.526748 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-21T07:19:33.410Z,1755760773.410 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:33.584Z,1755760773.584 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:33.584Z,1755760773.584 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:33.584Z,1755760773.584 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:33.832Z,1755760773.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250620
2025-08-21T07:19:34.084Z,1755760774.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502456
2025-08-21T07:19:34.336Z,1755760774.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754549
2025-08-21T07:19:34.588Z,1755760774.588 [DAT](INFO): DAT read: Rx Time:07:19:33.3242

2025-08-21T07:19:34.589Z,1755760774.589 [DAT](INFO): Rx dataTimestamp_ set to:1755760774.588547
2025-08-21T07:19:34.589Z,1755760774.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007654
2025-08-21T07:19:34.840Z,1755760774.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258537
2025-08-21T07:19:35.105Z,1755760775.105 [DAT](INFO): DAT read: 07:19:33.3242 LVL= 30192, 10401, 23618, 28771, AGC= 43, IDX= 442,-0.30, 2.697, 3.090, 1.481,-2.715, PHS=-0.769,-0.433,-2.131, RAW=  19.2,  37.1, CAL=  17.6,  42.9, ROT= 132.4, -42.9

2025-08-21T07:19:35.106Z,1755760775.106 [DAT](INFO): got valid direction response:
 07:19:33.3242 LVL= 30192, 10401, 23618, 28771, AGC= 43, IDX= 442,-0.30, 2.697, 3.090, 1.481,-2.715, PHS=-0.769,-0.433,-2.131, RAW=  19.2,  37.1, CAL=  17.6,  42.9, ROT= 132.4, -42.9

2025-08-21T07:19:35.119Z,1755760775.119 [DAT](INFO): DAT read: Bearing  16.0,  35.4 (Local)

2025-08-21T07:19:35.143Z,1755760775.143 [DAT](INFO): Local bearing/azimuth received:
 Bearing  16.0,  35.4 (Local)

2025-08-21T07:19:35.145Z,1755760775.145 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:19:35.146Z,1755760775.146 [DAT](INFO): DAT read: user:2204>

2025-08-21T07:19:35.163Z,1755760775.163 [DAT](INFO): DAT read: Tx time:07:19:34.4172

2025-08-21T07:19:35.168Z,1755760775.168 [DAT](INFO): Ping request sent.
2025-08-21T07:19:35.168Z,1755760775.168 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:35.168Z,1755760775.168 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:35.170Z,1755760775.170 [DAT](INFO): direction in FSK: [-0.493955,0.540950,0.680721]
2025-08-21T07:19:35.170Z,1755760775.170 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:35.171Z,1755760775.171 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:35.208Z,1755760775.208 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:35.208Z,1755760775.208 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:35.457Z,1755760775.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.527929 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:35.464Z,1755760775.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088426 m,
      bearing: 222.818648 deg,
      lat: 36.779387 deg,
      lon: -121.859408 deg,
      deltaT: 3.527929 s,
      deltaX: 0.000004 m,
      approachRate: 0.000001 m/s,
      posRepo size: 4

2025-08-21T07:19:35.895Z,1755760775.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:36.101Z,1755760776.101 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:36.101Z,1755760776.101 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:36.101Z,1755760776.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:36.352Z,1755760776.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.184260
2025-08-21T07:19:36.605Z,1755760776.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.437323
2025-08-21T07:19:36.856Z,1755760776.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.688509
2025-08-21T07:19:37.110Z,1755760777.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.941984
2025-08-21T07:19:37.360Z,1755760777.360 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.192598
2025-08-21T07:19:37.613Z,1755760777.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.445135
2025-08-21T07:19:37.867Z,1755760777.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698958
2025-08-21T07:19:37.924Z,1755760777.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:38.121Z,1755760778.121 [DAT](INFO): DAT read: Rx Time:07:19:36.8242

2025-08-21T07:19:38.121Z,1755760778.121 [DAT](INFO): Rx dataTimestamp_ set to:1755760778.120757
2025-08-21T07:19:38.122Z,1755760778.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953737
2025-08-21T07:19:38.336Z,1755760778.336 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:19:38.369Z,1755760778.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.200784
2025-08-21T07:19:38.626Z,1755760778.626 [DAT](INFO): DAT read: 07:19:36.8242 LVL= 27504, 11649, 24690, 26979, AGC= 43, IDX= 442,-0.19, 1.873, 2.137, 0.665, 2.768, PHS=-0.792,-0.585,-2.146, RAW=  23.0,  40.3, CAL=  21.3,  45.8, ROT= 128.7, -45.8

2025-08-21T07:19:38.627Z,1755760778.627 [DAT](INFO): got valid direction response:
 07:19:36.8242 LVL= 27504, 11649, 24690, 26979, AGC= 43, IDX= 442,-0.19, 1.873, 2.137, 0.665, 2.768, PHS=-0.792,-0.585,-2.146, RAW=  23.0,  40.3, CAL=  21.3,  45.8, ROT= 128.7, -45.8

2025-08-21T07:19:38.628Z,1755760778.628 [DAT](INFO): DAT read: Bearing  13.3,  36.2 (Local)

2025-08-21T07:19:38.628Z,1755760778.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing  13.3,  36.2 (Local)

2025-08-21T07:19:38.630Z,1755760778.630 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:19:38.631Z,1755760778.631 [DAT](INFO): DAT read: user:2205>

2025-08-21T07:19:38.632Z,1755760778.632 [DAT](INFO): DAT read: Tx time:07:19:37.9172

2025-08-21T07:19:38.632Z,1755760778.632 [DAT](INFO): Ping request sent.
2025-08-21T07:19:38.632Z,1755760778.632 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:38.633Z,1755760778.633 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:38.634Z,1755760778.634 [DAT](INFO): direction in FSK: [-0.435897,0.544089,0.716911]
2025-08-21T07:19:38.634Z,1755760778.634 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:38.634Z,1755760778.634 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:38.653Z,1755760778.653 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:38.654Z,1755760778.654 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:38.726Z,1755760778.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.527812 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:38.740Z,1755760778.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088422 m,
      bearing: 221.757813 deg,
      lat: 36.779387 deg,
      lon: -121.859408 deg,
      deltaT: 3.527812 s,
      deltaX: -0.000004 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-08-21T07:19:39.340Z,1755760779.340 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:19:39.961Z,1755760779.961 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:40.132Z,1755760780.132 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:40.132Z,1755760780.132 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:40.132Z,1755760780.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:40.384Z,1755760780.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751935
2025-08-21T07:19:40.636Z,1755760780.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003897
2025-08-21T07:19:40.888Z,1755760780.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255838
2025-08-21T07:19:41.140Z,1755760781.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507705
2025-08-21T07:19:41.392Z,1755760781.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760040
2025-08-21T07:19:41.532Z,1755760781.532 [CTD_Seabird](ERROR): Failed to parse device response: 59,2866.34
2025-08-21T07:19:41.645Z,1755760781.645 [DAT](INFO): DAT read: Rx Time:07:19:40.3242

2025-08-21T07:19:41.645Z,1755760781.645 [DAT](INFO): Rx dataTimestamp_ set to:1755760781.645056
2025-08-21T07:19:41.646Z,1755760781.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013868
2025-08-21T07:19:41.900Z,1755760781.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267585
2025-08-21T07:19:42.049Z,1755760782.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:42.157Z,1755760782.157 [DAT](INFO): DAT read: 07:19:40.3242 LVL= 30752, 11329, 24290, 28867, AGC= 43, IDX= 442,-0.16, 0.611, 0.932,-0.602, 1.495, PHS=-0.781,-0.517,-2.141, RAW=  21.3,  38.9, CAL=  19.6,  44.5, ROT= 130.4, -44.5

2025-08-21T07:19:42.158Z,1755760782.158 [DAT](INFO): got valid direction response:
 07:19:40.3242 LVL= 30752, 11329, 24290, 28867, AGC= 43, IDX= 442,-0.16, 0.611, 0.932,-0.602, 1.495, PHS=-0.781,-0.517,-2.141, RAW=  21.3,  38.9, CAL=  19.6,  44.5, ROT= 130.4, -44.5

2025-08-21T07:19:42.170Z,1755760782.170 [DAT](INFO): DAT read: Bearing  17.9,  36.1 (Local)

2025-08-21T07:19:42.171Z,1755760782.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.9,  36.1 (Local)

2025-08-21T07:19:42.173Z,1755760782.173 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:19:42.174Z,1755760782.174 [DAT](INFO): DAT read: user:2206>

2025-08-21T07:19:42.195Z,1755760782.195 [DAT](INFO): DAT read: Tx time:07:19:41.4172

2025-08-21T07:19:42.196Z,1755760782.196 [DAT](INFO): Ping request sent.
2025-08-21T07:19:42.196Z,1755760782.196 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:42.196Z,1755760782.196 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:42.197Z,1755760782.197 [DAT](INFO): direction in FSK: [-0.462272,0.543168,0.700909]
2025-08-21T07:19:42.197Z,1755760782.197 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:42.198Z,1755760782.198 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:42.209Z,1755760782.209 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:42.209Z,1755760782.209 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:42.420Z,1755760782.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.528362 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:42.422Z,1755760782.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088423 m,
      bearing: 225.402198 deg,
      lat: 36.779387 deg,
      lon: -121.859409 deg,
      deltaT: 3.528362 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-21T07:19:44.442Z,1755760784.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:44.674Z,1755760784.674 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:44.674Z,1755760784.674 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:44.674Z,1755760784.674 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:44.928Z,1755760784.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732013
2025-08-21T07:19:45.177Z,1755760785.177 [DAT](INFO): DAT read: Rx Time:07:19:43.8242

2025-08-21T07:19:45.178Z,1755760785.178 [DAT](INFO): Rx dataTimestamp_ set to:1755760785.177258
2025-08-21T07:19:45.178Z,1755760785.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982318
2025-08-21T07:19:45.428Z,1755760785.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.232410
2025-08-21T07:19:45.652Z,1755760785.652 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T07:19:45.689Z,1755760785.689 [DAT](INFO): DAT read: 07:19:43.8242 LVL= 30704, 10625, 24098, 30483, AGC= 43, IDX= 442,-0.11,-0.339,-0.042,-1.540, 0.554, PHS=-0.792,-0.551,-2.138, RAW=  21.9,  39.7, CAL=  20.3,  45.3, ROT= 129.7, -45.3

2025-08-21T07:19:45.691Z,1755760785.691 [DAT](INFO): got valid direction response:
 07:19:43.8242 LVL= 30704, 10625, 24098, 30483, AGC= 43, IDX= 442,-0.11,-0.339,-0.042,-1.540, 0.554, PHS=-0.792,-0.551,-2.138, RAW=  21.9,  39.7, CAL=  20.3,  45.3, ROT= 129.7, -45.3

2025-08-21T07:19:45.692Z,1755760785.692 [DAT](INFO): DAT read: Bearing  17.8,  35.8 (Local)

2025-08-21T07:19:45.693Z,1755760785.693 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.8,  35.8 (Local)

2025-08-21T07:19:45.695Z,1755760785.695 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:19:45.696Z,1755760785.696 [DAT](INFO): DAT read: user:2207>

2025-08-21T07:19:45.697Z,1755760785.697 [DAT](INFO): DAT read: Tx time:07:19:44.9171

2025-08-21T07:19:45.697Z,1755760785.697 [DAT](INFO): Ping request sent.
2025-08-21T07:19:45.698Z,1755760785.698 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:45.698Z,1755760785.698 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:45.699Z,1755760785.699 [DAT](INFO): direction in FSK: [-0.449306,0.541192,0.710799]
2025-08-21T07:19:45.699Z,1755760785.699 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:45.699Z,1755760785.699 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:45.702Z,1755760785.702 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:45.703Z,1755760785.703 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:46.112Z,1755760786.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.531944 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:46.114Z,1755760786.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088432 m,
      bearing: 225.025111 deg,
      lat: 36.779387 deg,
      lon: -121.859409 deg,
      deltaT: 3.531944 s,
      deltaX: 0.000010 m,
      approachRate: 0.000003 m/s,
      posRepo size: 4

2025-08-21T07:19:46.458Z,1755760786.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:46.688Z,1755760786.688 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:46.688Z,1755760786.688 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:46.688Z,1755760786.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:46.944Z,1755760786.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246128
2025-08-21T07:19:47.192Z,1755760787.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494643
2025-08-21T07:19:47.444Z,1755760787.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746738
2025-08-21T07:19:47.697Z,1755760787.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999213
2025-08-21T07:19:47.951Z,1755760787.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252693
2025-08-21T07:19:48.201Z,1755760788.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503355
2025-08-21T07:19:48.452Z,1755760788.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754737
2025-08-21T07:19:48.472Z,1755760788.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:48.474Z,1755760788.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 2.10 m.
2025-08-21T07:19:48.475Z,1755760788.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-08-21T07:19:48.705Z,1755760788.705 [DAT](INFO): DAT read: Rx Time:07:19:47.3242

2025-08-21T07:19:48.706Z,1755760788.706 [DAT](INFO): Rx dataTimestamp_ set to:1755760788.705367
2025-08-21T07:19:48.706Z,1755760788.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008648
2025-08-21T07:19:48.964Z,1755760788.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265143
2025-08-21T07:19:49.218Z,1755760789.218 [DAT](INFO): DAT read: 07:19:47.3242 LVL= 32752, 12561, 22002, 32755, AGC= 43, IDX= 442,-0.05,-1.962,-0.921,-2.981,-0.974, PHS=-0.886, 0.097,-2.051, RAW=   2.8,  28.3, CAL=   1.8,  33.5, ROT= 148.2, -33.5

2025-08-21T07:19:49.219Z,1755760789.219 [DAT](INFO): got valid direction response:
 07:19:47.3242 LVL= 32752, 12561, 22002, 32755, AGC= 43, IDX= 442,-0.05,-1.962,-0.921,-2.981,-0.974, PHS=-0.886, 0.097,-2.051, RAW=   2.8,  28.3, CAL=   1.8,  33.5, ROT= 148.2, -33.5

2025-08-21T07:19:49.220Z,1755760789.220 [DAT](INFO): DAT read: Bearing  36.0,  26.2 (Local)

2025-08-21T07:19:49.220Z,1755760789.220 [DAT](INFO): Local bearing/azimuth received:
 Bearing  36.0,  26.2 (Local)

2025-08-21T07:19:49.222Z,1755760789.222 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:19:49.222Z,1755760789.222 [DAT](INFO): DAT read: user:2208>

2025-08-21T07:19:49.223Z,1755760789.223 [DAT](INFO): DAT read: Tx time:07:19:48.4171

2025-08-21T07:19:49.223Z,1755760789.223 [DAT](INFO): Ping request sent.
2025-08-21T07:19:49.224Z,1755760789.224 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:49.224Z,1755760789.224 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:49.225Z,1755760789.225 [DAT](INFO): direction in FSK: [-0.708713,0.439421,0.551937]
2025-08-21T07:19:49.225Z,1755760789.225 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:49.225Z,1755760789.225 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:49.229Z,1755760789.229 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:49.229Z,1755760789.229 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:49.416Z,1755760789.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 3.531464 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-21T07:19:49.418Z,1755760789.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.088429 m,
      bearing: 240.010763 deg,
      lat: 36.779387 deg,
      lon: -121.859409 deg,
      deltaT: 3.531464 s,
      deltaX: -0.000003 m,
      approachRate: -0.000001 m/s,
      posRepo size: 4

2025-08-21T07:19:50.557Z,1755760790.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:50.724Z,1755760790.724 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:50.724Z,1755760790.724 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:50.724Z,1755760790.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:50.979Z,1755760790.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755311
2025-08-21T07:19:51.228Z,1755760791.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004659
2025-08-21T07:19:51.378Z,1755760791.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 2.10 m. Lat: 36.779387 Lon: -121.859409 Cable present. Reached intercept timeout.
2025-08-21T07:19:51.378Z,1755760791.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-08-21T07:19:51.378Z,1755760791.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-21T07:19:51.379Z,1755760791.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-08-21T07:19:51.481Z,1755760791.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257138
2025-08-21T07:19:51.732Z,1755760791.732 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508729
2025-08-21T07:19:51.766Z,1755760791.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-08-21T07:19:51.766Z,1755760791.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-08-21T07:19:51.766Z,1755760791.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-08-21T07:19:51.987Z,1755760791.987 [DAT](INFO): DAT read: Rx Time:07:19:50.8242

2025-08-21T07:19:51.989Z,1755760791.989 [DAT](INFO): Rx dataTimestamp_ set to:1755760791.987826
2025-08-21T07:19:51.990Z,1755760791.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766435
2025-08-21T07:19:52.214Z,1755760792.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-08-21T07:19:52.216Z,1755760792.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-21T07:19:52.216Z,1755760792.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-21T07:19:52.216Z,1755760792.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-21T07:19:52.216Z,1755760792.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-21T07:19:52.216Z,1755760792.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-21T07:19:52.216Z,1755760792.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-21T07:19:52.216Z,1755760792.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-21T07:19:52.216Z,1755760792.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-21T07:19:52.216Z,1755760792.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-21T07:19:52.216Z,1755760792.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-21T07:19:52.236Z,1755760792.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012652
2025-08-21T07:19:52.491Z,1755760792.491 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266772
2025-08-21T07:19:52.646Z,1755760792.646 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-21T07:19:52.647Z,1755760792.647 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-21T07:19:52.653Z,1755760792.653 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:52.653Z,1755760792.653 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-08-21T07:19:52.654Z,1755760792.654 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-21T07:19:52.654Z,1755760792.654 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-08-21T07:19:52.654Z,1755760792.654 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-21T07:19:52.654Z,1755760792.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-21T07:19:52.654Z,1755760792.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-21T07:19:52.654Z,1755760792.654 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-08-21T07:19:52.654Z,1755760792.654 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-08-21T07:19:52.746Z,1755760792.746 [DAT](INFO): DAT read: 07:19:50.8242 LVL= 25520, 12929, 21282, 30067, AGC= 43, IDX= 442, 0.08,-2.460,-2.318, 2.697,-1.557, PHS=-0.801,-0.715,-2.073, RAW=  26.8,  43.9, CAL=  25.1,  49.0, ROT= 124.9, -49.0

2025-08-21T07:19:52.747Z,1755760792.747 [DAT](INFO): got valid direction response:
 07:19:50.8242 LVL= 25520, 12929, 21282, 30067, AGC= 43, IDX= 442, 0.08,-2.460,-2.318, 2.697,-1.557, PHS=-0.801,-0.715,-2.073, RAW=  26.8,  43.9, CAL=  25.1,  49.0, ROT= 124.9, -49.0

2025-08-21T07:19:52.748Z,1755760792.748 [DAT](INFO): DAT read: Bearing  10.3,  34.9 (Local)

2025-08-21T07:19:52.748Z,1755760792.748 [DAT](INFO): Local bearing/azimuth received:
 Bearing  10.3,  34.9 (Local)

2025-08-21T07:19:52.750Z,1755760792.750 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:19:52.750Z,1755760792.750 [DAT](INFO): DAT read: user:2209>

2025-08-21T07:19:52.761Z,1755760792.761 [DAT](INFO): DAT read: Tx time:07:19:51.9171

2025-08-21T07:19:52.761Z,1755760792.761 [DAT](INFO): Ping request sent.
2025-08-21T07:19:52.762Z,1755760792.762 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:52.762Z,1755760792.762 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:52.763Z,1755760792.763 [DAT](INFO): direction in FSK: [-0.375361,0.538068,0.754710]
2025-08-21T07:19:52.763Z,1755760792.763 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:52.763Z,1755760792.763 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:52.766Z,1755760792.766 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:52.767Z,1755760792.767 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:54.998Z,1755760794.998 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:55.008Z,1755760795.008 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:55.008Z,1755760795.008 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:55.008Z,1755760795.008 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:55.260Z,1755760795.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498586
2025-08-21T07:19:55.513Z,1755760795.513 [DAT](INFO): DAT read: Rx Time:07:19:54.3242

2025-08-21T07:19:55.513Z,1755760795.513 [DAT](INFO): Rx dataTimestamp_ set to:1755760795.512735
2025-08-21T07:19:55.514Z,1755760795.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751981
2025-08-21T07:19:55.764Z,1755760795.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002616
2025-08-21T07:19:56.029Z,1755760796.029 [DAT](INFO): DAT read: 07:19:54.3242 LVL= 23888, 13585, 18722, 26547, AGC= 43, IDX= 442, 0.16, 3.046, 2.782, 1.820,-2.413, PHS=-0.721,-1.043,-2.094, RAW=  42.9,  47.6, CAL=  40.9,  52.6, ROT= 109.1, -52.6

2025-08-21T07:19:56.040Z,1755760796.040 [DAT](INFO): got valid direction response:
 07:19:54.3242 LVL= 23888, 13585, 18722, 26547, AGC= 43, IDX= 442, 0.16, 3.046, 2.782, 1.820,-2.413, PHS=-0.721,-1.043,-2.094, RAW=  42.9,  47.6, CAL=  40.9,  52.6, ROT= 109.1, -52.6

2025-08-21T07:19:56.042Z,1755760796.042 [DAT](INFO): DAT read: Bearing 358.9,  39.2 (Local)

2025-08-21T07:19:56.043Z,1755760796.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.9,  39.2 (Local)

2025-08-21T07:19:56.065Z,1755760796.065 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:19:56.067Z,1755760796.067 [DAT](INFO): DAT read: user:2210>

2025-08-21T07:19:56.074Z,1755760796.074 [DAT](INFO): DAT read: Tx time:07:19:55.4171

2025-08-21T07:19:56.074Z,1755760796.074 [DAT](INFO): Ping request sent.
2025-08-21T07:19:56.075Z,1755760796.075 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:56.080Z,1755760796.080 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:56.096Z,1755760796.096 [DAT](INFO): direction in FSK: [-0.198744,0.573939,0.794415]
2025-08-21T07:19:56.097Z,1755760796.097 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:56.098Z,1755760796.098 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:56.116Z,1755760796.116 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:56.117Z,1755760796.117 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:56.289Z,1755760796.289 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-08-21T07:19:56.289Z,1755760796.289 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-08-21T07:19:56.289Z,1755760796.289 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-08-21T07:19:56.289Z,1755760796.289 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-08-21T07:19:56.639Z,1755760796.639 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-08-21T07:19:56.640Z,1755760796.640 [lineCaptureHoming:LineCapture:M] Stopped
2025-08-21T07:19:56.642Z,1755760796.642 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-08-21T07:19:56.642Z,1755760796.642 [lineCaptureHoming:LineCapture] Stopped
2025-08-21T07:19:56.642Z,1755760796.642 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-08-21T07:19:56.642Z,1755760796.642 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-08-21T07:19:56.642Z,1755760796.642 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-21T07:19:56.642Z,1755760796.642 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-21T07:19:56.642Z,1755760796.642 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-21T07:19:56.642Z,1755760796.642 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-21T07:19:56.642Z,1755760796.642 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-21T07:19:56.642Z,1755760796.642 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-21T07:19:56.642Z,1755760796.642 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-21T07:19:56.643Z,1755760796.643 [lineCaptureHoming:LineCapture:G] Stopped
2025-08-21T07:19:56.643Z,1755760796.643 [lineCaptureHoming:LineCapture:H] Stopped
2025-08-21T07:19:56.643Z,1755760796.643 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-08-21T07:19:56.643Z,1755760796.643 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-08-21T07:19:56.643Z,1755760796.643 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-08-21T07:19:56.643Z,1755760796.643 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-08-21T07:19:56.643Z,1755760796.643 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-08-21T07:19:56.651Z,1755760796.651 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-21T07:19:56.651Z,1755760796.651 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-21T07:19:56.651Z,1755760796.651 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-21T07:19:56.652Z,1755760796.652 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-21T07:19:57.021Z,1755760797.021 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-08-21T07:19:57.021Z,1755760797.021 [lineCaptureHoming:Lap:B] Stopped
2025-08-21T07:19:57.021Z,1755760797.021 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-08-21T07:19:57.021Z,1755760797.021 [lineCaptureHoming:Lap:C] Running Loop=1
2025-08-21T07:19:57.021Z,1755760797.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:57.025Z,1755760797.025 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:19:57.025Z,1755760797.025 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:19:57.025Z,1755760797.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:19:57.276Z,1755760797.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.201822
2025-08-21T07:19:57.438Z,1755760797.438 [lineCaptureHoming:Lap:C] Stopped
2025-08-21T07:19:57.438Z,1755760797.438 [lineCaptureHoming:Lap:D] Running Loop=1
2025-08-21T07:19:57.529Z,1755760797.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.454666
2025-08-21T07:19:57.780Z,1755760797.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.705783
2025-08-21T07:19:57.821Z,1755760797.821 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-08-21T07:19:57.821Z,1755760797.821 [lineCaptureHoming:Lap:D] Stopped
2025-08-21T07:19:57.821Z,1755760797.821 [lineCaptureHoming:Lap:E] Running Loop=1
2025-08-21T07:19:57.821Z,1755760797.821 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-08-21T07:19:58.033Z,1755760798.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.958581
2025-08-21T07:19:58.242Z,1755760798.242 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-08-21T07:19:58.242Z,1755760798.242 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-08-21T07:19:58.242Z,1755760798.242 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-08-21T07:19:58.242Z,1755760798.242 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-08-21T07:19:58.242Z,1755760798.242 [lineCaptureHoming:restartDHCP:A] Stopped
2025-08-21T07:19:58.242Z,1755760798.242 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-08-21T07:19:58.287Z,1755760798.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212367
2025-08-21T07:19:58.537Z,1755760798.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.462516
2025-08-21T07:19:58.642Z,1755760798.642 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-21T07:19:58.642Z,1755760798.642 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-08-21T07:19:58.642Z,1755760798.642 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-08-21T07:19:58.643Z,1755760798.643 [lineCaptureHoming:restartDHCP] Stopped
2025-08-21T07:19:58.643Z,1755760798.643 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-08-21T07:19:58.645Z,1755760798.645 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-21T07:19:58.789Z,1755760798.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714680
2025-08-21T07:19:59.041Z,1755760799.041 [DAT](INFO): DAT read: Rx Time:07:19:57.8241

2025-08-21T07:19:59.042Z,1755760799.042 [DAT](INFO): Rx dataTimestamp_ set to:1755760799.041324
2025-08-21T07:19:59.043Z,1755760799.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.968112
2025-08-21T07:19:59.138Z,1755760799.138 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-08-21UTC071958_sh
  
2025-08-21T07:19:59.184Z,1755760799.184 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-08-21T07:19:59.184Z,1755760799.184 [lineCaptureHoming:Lap:E] Stopped
2025-08-21T07:19:59.184Z,1755760799.184 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-08-21T07:19:59.184Z,1755760799.184 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-08-21T07:19:59.184Z,1755760799.184 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-08-21T07:19:59.185Z,1755760799.185 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-08-21T07:19:59.185Z,1755760799.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:19:59.292Z,1755760799.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.218055
2025-08-21T07:19:59.553Z,1755760799.553 [DAT](INFO): DAT read: 07:19:57.8241 LVL= 23088, 10865, 22258, 26227, AGC= 43, IDX= 441, 0.28, 0.882, 0.399,-0.448, 1.599, PHS=-0.616,-1.156,-2.091, RAW=  51.2,  46.6, CAL=  48.5,  51.5, ROT= 101.5, -51.5

2025-08-21T07:19:59.555Z,1755760799.555 [DAT](INFO): got valid direction response:
 07:19:57.8241 LVL= 23088, 10865, 22258, 26227, AGC= 43, IDX= 441, 0.28, 0.882, 0.399,-0.448, 1.599, PHS=-0.616,-1.156,-2.091, RAW=  51.2,  46.6, CAL=  48.5,  51.5, ROT= 101.5, -51.5

2025-08-21T07:19:59.557Z,1755760799.557 [DAT](INFO): DAT read: Bearing 354.4,  44.8 (Local)

2025-08-21T07:19:59.557Z,1755760799.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.4,  44.8 (Local)

2025-08-21T07:19:59.558Z,1755760799.558 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:19:59.560Z,1755760799.560 [DAT](INFO): DAT read: user:2211>

2025-08-21T07:19:59.561Z,1755760799.561 [DAT](INFO): DAT read: Tx time:07:19:58.9171

2025-08-21T07:19:59.561Z,1755760799.561 [DAT](INFO): Ping request sent.
2025-08-21T07:19:59.561Z,1755760799.561 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:19:59.561Z,1755760799.561 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:19:59.563Z,1755760799.563 [DAT](INFO): direction in FSK: [-0.124109,0.610017,0.782608]
2025-08-21T07:19:59.563Z,1755760799.563 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:59.571Z,1755760799.571 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:59.623Z,1755760799.623 [DAT](INFO): publishing transmit ping time
2025-08-21T07:19:59.624Z,1755760799.624 [DAT](INFO): publishing direction and range info
2025-08-21T07:19:59.636Z,1755760799.636 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  15.000000 min 
2025-08-21T07:19:59.636Z,1755760799.636 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-08-21T07:19:59.636Z,1755760799.636 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-08-21T07:19:59.860Z,1755760799.860 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-08-21T07:19:59.860Z,1755760799.860 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-08-21T07:20:00.274Z,1755760800.274 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-08-21T07:20:00.274Z,1755760800.274 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-08-21T07:20:00.275Z,1755760800.275 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-08-21T07:20:00.275Z,1755760800.275 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-21T07:20:00.650Z,1755760800.650 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-08-21T07:20:00.651Z,1755760800.651 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-08-21T07:20:01.308Z,1755760801.308 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:20:01.562Z,1755760801.562 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:20:01.584Z,1755760801.584 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-21T07:20:01.700Z,1755760801.700 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-21T07:20:01.812Z,1755760801.812 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:20:02.575Z,1755760802.575 [DAT](INFO): DAT read: Rx Time:07:20:01.3241

2025-08-21T07:20:02.575Z,1755760802.575 [DAT](INFO): Rx dataTimestamp_ set to:1755760802.574751
2025-08-21T07:20:03.089Z,1755760803.089 [DAT](INFO): DAT read: 07:20:01.3241 LVL= 23856, 11153, 22514, 28083, AGC= 44, IDX= 441, 0.42,-0.713,-1.073,-2.034, 0.043, PHS=-0.654,-1.072,-2.122, RAW=  46.0,  46.1, CAL=  43.7,  51.2, ROT= 106.3, -51.2

2025-08-21T07:20:03.092Z,1755760803.092 [DAT](INFO): got valid direction response:
 07:20:01.3241 LVL= 23856, 11153, 22514, 28083, AGC= 44, IDX= 441, 0.42,-0.713,-1.073,-2.034, 0.043, PHS=-0.654,-1.072,-2.122, RAW=  46.0,  46.1, CAL=  43.7,  51.2, ROT= 106.3, -51.2

2025-08-21T07:20:03.093Z,1755760803.093 [DAT](INFO): DAT read: Bearing 357.3,  43.0 (Local)

2025-08-21T07:20:03.094Z,1755760803.094 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.3,  43.0 (Local)

2025-08-21T07:20:03.095Z,1755760803.095 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:20:03.100Z,1755760803.100 [DAT](INFO): DAT read: user:2212>

2025-08-21T07:20:03.101Z,1755760803.101 [DAT](INFO): DAT read: Tx time:07:20:02.4187

2025-08-21T07:20:03.101Z,1755760803.101 [DAT](INFO): Ping request sent.
2025-08-21T07:20:03.101Z,1755760803.101 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:03.101Z,1755760803.101 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-21T07:20:03.102Z,1755760803.102 [DAT](INFO): direction in FSK: [-0.175867,0.601418,0.779338]
2025-08-21T07:20:03.103Z,1755760803.103 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:03.103Z,1755760803.103 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:03.110Z,1755760803.110 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:03.110Z,1755760803.110 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:04.460Z,1755760804.460 [MassServo](FAULT): Overload Error
2025-08-21T07:20:04.460Z,1755760804.460 [MassServo] Hardware Fault, FailCount= 1
2025-08-21T07:20:04.460Z,1755760804.460 [MassServo](ERROR): Hardware Fault
2025-08-21T07:20:04.564Z,1755760804.564 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-21T07:20:04.766Z,1755760804.766 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-21T07:20:04.766Z,1755760804.766 [MassServo](INFO): Powering down
2025-08-21T07:20:05.225Z,1755760805.225 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T07:20:05.621Z,1755760805.621 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-21T07:20:05.740Z,1755760805.740 [MassServo](DEBUG): Initializing MassServo.
2025-08-21T07:20:05.745Z,1755760805.745 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-21T07:20:05.745Z,1755760805.745 [MassServo] No Fault, FailCount= 1
2025-08-21T07:20:06.104Z,1755760806.104 [DAT](INFO): DAT read: Rx Time:07:20:04.8255

2025-08-21T07:20:06.105Z,1755760806.105 [DAT](INFO): Rx dataTimestamp_ set to:1755760806.104505
2025-08-21T07:20:06.614Z,1755760806.614 [DAT](INFO): DAT read: 07:20:04.8255 LVL= 22960, 12161, 23970, 30787, AGC= 44, IDX= 442,-0.43, 2.587, 2.420, 1.287,-2.900, PHS=-0.695,-0.918,-2.141, RAW=  38.2,  44.5, CAL=  36.2,  49.8, ROT= 113.8, -49.8

2025-08-21T07:20:06.615Z,1755760806.615 [DAT](INFO): got valid direction response:
 07:20:04.8255 LVL= 22960, 12161, 23970, 30787, AGC= 44, IDX= 442,-0.43, 2.587, 2.420, 1.287,-2.900, PHS=-0.695,-0.918,-2.141, RAW=  38.2,  44.5, CAL=  36.2,  49.8, ROT= 113.8, -49.8

2025-08-21T07:20:06.616Z,1755760806.616 [DAT](INFO): DAT read: Bearing   1.9,  42.0 (Local)

2025-08-21T07:20:06.617Z,1755760806.617 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.9,  42.0 (Local)

2025-08-21T07:20:06.618Z,1755760806.618 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:20:06.619Z,1755760806.619 [DAT](INFO): DAT read: user:2213>

2025-08-21T07:20:06.620Z,1755760806.620 [DAT](INFO): DAT read: Tx time:07:20:05.9170

2025-08-21T07:20:06.620Z,1755760806.620 [DAT](INFO): Ping request sent.
2025-08-21T07:20:06.620Z,1755760806.620 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:06.621Z,1755760806.621 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-21T07:20:06.622Z,1755760806.622 [DAT](INFO): direction in FSK: [-0.260471,0.590568,0.763796]
2025-08-21T07:20:06.622Z,1755760806.622 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:06.622Z,1755760806.622 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:06.625Z,1755760806.625 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:06.626Z,1755760806.626 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:09.476Z,1755760809.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-21T07:20:09.645Z,1755760809.645 [DAT](INFO): DAT read: Rx Time:07:20:08.3240

2025-08-21T07:20:09.645Z,1755760809.645 [DAT](INFO): Rx dataTimestamp_ set to:1755760809.644943
2025-08-21T07:20:10.157Z,1755760810.157 [DAT](INFO): DAT read: 07:20:08.3240 LVL= 26288, 13521, 26002, 29843, AGC= 43, IDX= 442,-0.37, 1.589, 1.547, 0.362, 2.446, PHS=-0.755,-0.854,-2.128, RAW=  33.7,  44.9, CAL=  31.8,  49.9, ROT= 118.2, -49.9

2025-08-21T07:20:10.158Z,1755760810.158 [DAT](INFO): got valid direction response:
 07:20:08.3240 LVL= 26288, 13521, 26002, 29843, AGC= 43, IDX= 442,-0.37, 1.589, 1.547, 0.362, 2.446, PHS=-0.755,-0.854,-2.128, RAW=  33.7,  44.9, CAL=  31.8,  49.9, ROT= 118.2, -49.9

2025-08-21T07:20:10.160Z,1755760810.160 [DAT](INFO): DAT read: Bearing   3.3,  39.8 (Local)

2025-08-21T07:20:10.160Z,1755760810.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.3,  39.8 (Local)

2025-08-21T07:20:10.162Z,1755760810.162 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-21T07:20:10.197Z,1755760810.197 [DAT](INFO): DAT read: user:2214>

2025-08-21T07:20:10.198Z,1755760810.198 [DAT](INFO): DAT read: Tx time:07:20:09.4170

2025-08-21T07:20:10.198Z,1755760810.198 [DAT](INFO): Ping request sent.
2025-08-21T07:20:10.198Z,1755760810.198 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:10.199Z,1755760810.199 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-21T07:20:10.200Z,1755760810.200 [DAT](INFO): direction in FSK: [-0.304381,0.567668,0.764921]
2025-08-21T07:20:10.200Z,1755760810.200 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:10.200Z,1755760810.200 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:10.204Z,1755760810.204 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:10.204Z,1755760810.204 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:10.480Z,1755760810.480 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-08-21T07:20:13.188Z,1755760813.188 [DAT](INFO): DAT read: Rx Time:07:20:11.8241

2025-08-21T07:20:13.189Z,1755760813.189 [DAT](INFO): Rx dataTimestamp_ set to:1755760813.188559
2025-08-21T07:20:13.698Z,1755760813.698 [DAT](INFO): DAT read: 07:20:11.8241 LVL= 30416, 11921, 27250, 32755, AGC= 43, IDX= 442,-0.22, 0.433, 0.269,-0.871, 1.212, PHS=-0.677,-0.899,-2.127, RAW=  38.2,  44.0, CAL=  36.1,  49.4, ROT= 113.9, -49.4

2025-08-21T07:20:13.700Z,1755760813.700 [DAT](INFO): got valid direction response:
 07:20:11.8241 LVL= 30416, 11921, 27250, 32755, AGC= 43, IDX= 442,-0.22, 0.433, 0.269,-0.871, 1.212, PHS=-0.677,-0.899,-2.127, RAW=  38.2,  44.0, CAL=  36.1,  49.4, ROT= 113.9, -49.4

2025-08-21T07:20:13.701Z,1755760813.701 [DAT](INFO): DAT read: Bearing   0.4,  43.4 (Local)

2025-08-21T07:20:13.701Z,1755760813.701 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.4,  43.4 (Local)

2025-08-21T07:20:13.702Z,1755760813.702 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:13.704Z,1755760813.704 [DAT](INFO): DAT read: user:2215>

2025-08-21T07:20:13.704Z,1755760813.704 [DAT](INFO): DAT read: Tx time:07:20:12.9170

2025-08-21T07:20:13.705Z,1755760813.705 [DAT](INFO): Ping request sent.
2025-08-21T07:20:13.705Z,1755760813.705 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:13.705Z,1755760813.705 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-21T07:20:13.706Z,1755760813.706 [DAT](INFO): direction in FSK: [-0.263656,0.594973,0.759271]
2025-08-21T07:20:13.706Z,1755760813.706 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:13.707Z,1755760813.707 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:13.710Z,1755760813.710 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:13.710Z,1755760813.710 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:16.489Z,1755760816.489 [DAT](INFO): DAT read: Rx Time:07:20:15.3241

2025-08-21T07:20:16.491Z,1755760816.491 [DAT](INFO): Rx dataTimestamp_ set to:1755760816.489928
2025-08-21T07:20:17.251Z,1755760817.251 [DAT](INFO): DAT read: 07:20:15.3241 LVL= 22192, 11841, 24242, 30003, AGC= 43, IDX= 442,-0.10,-0.692,-0.890,-2.001, 0.079, PHS=-0.669,-0.924,-2.125, RAW=  39.4,  44.3, CAL=  37.4,  49.6, ROT= 112.6, -49.6

2025-08-21T07:20:17.252Z,1755760817.252 [DAT](INFO): got valid direction response:
 07:20:15.3241 LVL= 22192, 11841, 24242, 30003, AGC= 43, IDX= 442,-0.10,-0.692,-0.890,-2.001, 0.079, PHS=-0.669,-0.924,-2.125, RAW=  39.4,  44.3, CAL=  37.4,  49.6, ROT= 112.6, -49.6

2025-08-21T07:20:17.253Z,1755760817.253 [DAT](INFO): DAT read: Bearing 359.3,  43.5 (Local)

2025-08-21T07:20:17.253Z,1755760817.253 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,  43.5 (Local)

2025-08-21T07:20:17.255Z,1755760817.255 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:17.263Z,1755760817.263 [DAT](INFO): DAT read: user:2216>

2025-08-21T07:20:17.264Z,1755760817.264 [DAT](INFO): DAT read: Tx time:07:20:16.4170

2025-08-21T07:20:17.264Z,1755760817.264 [DAT](INFO): Ping request sent.
2025-08-21T07:20:17.265Z,1755760817.265 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:17.265Z,1755760817.265 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-21T07:20:17.266Z,1755760817.266 [DAT](INFO): direction in FSK: [-0.249069,0.598351,0.761538]
2025-08-21T07:20:17.266Z,1755760817.266 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:17.266Z,1755760817.266 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:17.270Z,1755760817.270 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:17.270Z,1755760817.270 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:20.016Z,1755760820.016 [DAT](INFO): DAT read: Rx Time:07:20:18.8241

2025-08-21T07:20:20.017Z,1755760820.017 [DAT](INFO): Rx dataTimestamp_ set to:1755760820.016636
2025-08-21T07:20:20.541Z,1755760820.541 [DAT](INFO): DAT read: 07:20:18.8241 LVL= 26288, 13105, 27378, 31459, AGC= 45, IDX= 442,-0.00,-1.477,-1.620,-2.798,-0.644, PHS=-0.731,-0.931,-2.198, RAW=  37.2,  44.7, CAL=  35.2,  49.9, ROT= 114.8, -49.9

2025-08-21T07:20:20.542Z,1755760820.542 [DAT](INFO): got valid direction response:
 07:20:18.8241 LVL= 26288, 13105, 27378, 31459, AGC= 45, IDX= 442,-0.00,-1.477,-1.620,-2.798,-0.644, PHS=-0.731,-0.931,-2.198, RAW=  37.2,  44.7, CAL=  35.2,  49.9, ROT= 114.8, -49.9

2025-08-21T07:20:20.543Z,1755760820.543 [DAT](INFO): DAT read: Bearing 359.3,  43.5 (Local)

2025-08-21T07:20:20.557Z,1755760820.557 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.3,  43.5 (Local)

2025-08-21T07:20:20.559Z,1755760820.559 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:20.560Z,1755760820.560 [DAT](INFO): DAT read: user:2217>

2025-08-21T07:20:20.561Z,1755760820.561 [DAT](INFO): DAT read: Tx time:07:20:19.9170

2025-08-21T07:20:20.561Z,1755760820.561 [DAT](INFO): Ping request sent.
2025-08-21T07:20:20.562Z,1755760820.562 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:20.562Z,1755760820.562 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-21T07:20:20.567Z,1755760820.567 [DAT](INFO): direction in FSK: [-0.270179,0.584721,0.764921]
2025-08-21T07:20:20.568Z,1755760820.568 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:20.568Z,1755760820.568 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:20.571Z,1755760820.571 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:20.591Z,1755760820.591 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:23.549Z,1755760823.549 [DAT](INFO): DAT read: Rx Time:07:20:22.3240

2025-08-21T07:20:23.550Z,1755760823.550 [DAT](INFO): Rx dataTimestamp_ set to:1755760823.549689
2025-08-21T07:20:24.058Z,1755760824.058 [DAT](INFO): DAT read: 07:20:22.3240 LVL= 23328, 14033, 25266, 27091, AGC= 44, IDX= 442, 0.11,-2.528,-2.563, 2.452,-1.595, PHS=-0.832,-0.923,-2.281, RAW=  33.2,  45.4, CAL=  31.4,  50.4, ROT= 118.6, -50.4

2025-08-21T07:20:24.060Z,1755760824.060 [DAT](INFO): got valid direction response:
 07:20:22.3240 LVL= 23328, 14033, 25266, 27091, AGC= 44, IDX= 442, 0.11,-2.528,-2.563, 2.452,-1.595, PHS=-0.832,-0.923,-2.281, RAW=  33.2,  45.4, CAL=  31.4,  50.4, ROT= 118.6, -50.4

2025-08-21T07:20:24.061Z,1755760824.061 [DAT](INFO): DAT read: Bearing 359.2,  42.8 (Local)

2025-08-21T07:20:24.061Z,1755760824.061 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  42.8 (Local)

2025-08-21T07:20:24.062Z,1755760824.062 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:24.063Z,1755760824.063 [DAT](INFO): DAT read: user:2218>

2025-08-21T07:20:24.064Z,1755760824.064 [DAT](INFO): DAT read: Tx time:07:20:23.4169

2025-08-21T07:20:24.064Z,1755760824.064 [DAT](INFO): Ping request sent.
2025-08-21T07:20:24.064Z,1755760824.064 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:24.064Z,1755760824.064 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-21T07:20:24.065Z,1755760824.065 [DAT](INFO): direction in FSK: [-0.305130,0.559647,0.770513]
2025-08-21T07:20:24.066Z,1755760824.066 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:24.066Z,1755760824.066 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:24.088Z,1755760824.088 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:24.089Z,1755760824.089 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:27.076Z,1755760827.076 [DAT](INFO): DAT read: Rx Time:07:20:25.8240

2025-08-21T07:20:27.077Z,1755760827.077 [DAT](INFO): Rx dataTimestamp_ set to:1755760827.076438
2025-08-21T07:20:27.586Z,1755760827.586 [DAT](INFO): DAT read: 07:20:25.8240 LVL= 20752, 19265, 26594, 24803, AGC= 45, IDX= 442, 0.29, 1.885, 1.988, 0.598, 2.974, PHS=-0.987,-0.940,-2.420, RAW=  28.4,  46.5, CAL=  26.8,  51.3, ROT= 123.2, -51.3

2025-08-21T07:20:27.587Z,1755760827.587 [DAT](INFO): got valid direction response:
 07:20:25.8240 LVL= 20752, 19265, 26594, 24803, AGC= 45, IDX= 442, 0.29, 1.885, 1.988, 0.598, 2.974, PHS=-0.987,-0.940,-2.420, RAW=  28.4,  46.5, CAL=  26.8,  51.3, ROT= 123.2, -51.3

2025-08-21T07:20:27.588Z,1755760827.588 [DAT](INFO): DAT read: Bearing 359.6,  40.4 (Local)

2025-08-21T07:20:27.588Z,1755760827.588 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,  40.4 (Local)

2025-08-21T07:20:27.590Z,1755760827.590 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:27.590Z,1755760827.590 [DAT](INFO): DAT read: user:2219>

2025-08-21T07:20:27.592Z,1755760827.592 [DAT](INFO): DAT read: Tx time:07:20:26.9169

2025-08-21T07:20:27.592Z,1755760827.592 [DAT](INFO): Ping request sent.
2025-08-21T07:20:27.592Z,1755760827.592 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:27.593Z,1755760827.593 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-21T07:20:27.594Z,1755760827.594 [DAT](INFO): direction in FSK: [-0.342360,0.523181,0.780430]
2025-08-21T07:20:27.594Z,1755760827.594 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:27.594Z,1755760827.594 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:27.597Z,1755760827.597 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:27.598Z,1755760827.598 [DAT](INFO): publishing direction and range info
2025-08-21T07:20:30.616Z,1755760830.616 [DAT](INFO): DAT read: Rx Time:07:20:29.3240

2025-08-21T07:20:30.617Z,1755760830.617 [DAT](INFO): Rx dataTimestamp_ set to:1755760830.616103
2025-08-21T07:20:31.120Z,1755760831.120 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:31.121Z,1755760831.121 [DAT](INFO): DAT read: user:2220>

2025-08-21T07:20:31.122Z,1755760831.122 [DAT](INFO): DAT read: Tx time:07:20:30.4169

2025-08-21T07:20:31.122Z,1755760831.122 [DAT](INFO): Ping request sent.
2025-08-21T07:20:31.123Z,1755760831.123 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:31.124Z,1755760831.124 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-08-21T07:20:31.124Z,1755760831.124 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:31.125Z,1755760831.125 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:34.141Z,1755760834.141 [DAT](INFO): DAT read: Rx Time:07:20:32.8240

2025-08-21T07:20:34.142Z,1755760834.142 [DAT](INFO): Rx dataTimestamp_ set to:1755760834.141258
2025-08-21T07:20:34.653Z,1755760834.653 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:34.656Z,1755760834.656 [DAT](INFO): DAT read: user:2221>

2025-08-21T07:20:34.658Z,1755760834.658 [DAT](INFO): DAT read: Tx time:07:20:33.9168

2025-08-21T07:20:34.660Z,1755760834.660 [DAT](INFO): Ping request sent.
2025-08-21T07:20:34.660Z,1755760834.660 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:34.661Z,1755760834.661 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-08-21T07:20:34.661Z,1755760834.661 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:34.680Z,1755760834.680 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:36.879Z,1755760836.879 [MassServo](FAULT): Overload Error
2025-08-21T07:20:36.879Z,1755760836.879 [MassServo] Hardware Fault, FailCount= 1
2025-08-21T07:20:36.879Z,1755760836.879 [MassServo](ERROR): Hardware Fault
2025-08-21T07:20:36.984Z,1755760836.984 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-21T07:20:37.149Z,1755760837.149 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-21T07:20:37.149Z,1755760837.149 [MassServo](INFO): Powering down
2025-08-21T07:20:37.675Z,1755760837.675 [DAT](INFO): DAT read: Rx Time:07:20:36.3239

2025-08-21T07:20:37.679Z,1755760837.679 [DAT](INFO): Rx dataTimestamp_ set to:1755760837.677590
2025-08-21T07:20:38.186Z,1755760838.186 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:38.187Z,1755760838.187 [DAT](INFO): DAT read: user:2222>

2025-08-21T07:20:38.188Z,1755760838.188 [DAT](INFO): DAT read: Tx time:07:20:37.4168

2025-08-21T07:20:38.189Z,1755760838.189 [DAT](INFO): Ping request sent.
2025-08-21T07:20:38.189Z,1755760838.189 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:38.189Z,1755760838.189 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-08-21T07:20:38.190Z,1755760838.190 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:38.190Z,1755760838.190 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:38.217Z,1755760838.217 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-21T07:20:38.332Z,1755760838.332 [MassServo](DEBUG): Initializing MassServo.
2025-08-21T07:20:38.337Z,1755760838.337 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-21T07:20:38.337Z,1755760838.337 [MassServo] No Fault, FailCount= 1
2025-08-21T07:20:41.217Z,1755760841.217 [DAT](INFO): DAT read: Rx Time:07:20:39.8239

2025-08-21T07:20:41.217Z,1755760841.217 [DAT](INFO): Rx dataTimestamp_ set to:1755760841.216918
2025-08-21T07:20:41.726Z,1755760841.726 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:41.728Z,1755760841.728 [DAT](INFO): DAT read: user:2223>

2025-08-21T07:20:41.731Z,1755760841.731 [DAT](INFO): DAT read: Tx time:07:20:40.9168

2025-08-21T07:20:41.740Z,1755760841.740 [DAT](INFO): Ping request sent.
2025-08-21T07:20:41.740Z,1755760841.740 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:41.742Z,1755760841.742 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-08-21T07:20:41.742Z,1755760841.742 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:41.745Z,1755760841.745 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:44.500Z,1755760844.500 [DAT](INFO): DAT read: Rx Time:07:20:43.3239

2025-08-21T07:20:44.501Z,1755760844.501 [DAT](INFO): Rx dataTimestamp_ set to:1755760844.500404
2025-08-21T07:20:45.005Z,1755760845.005 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:45.006Z,1755760845.006 [DAT](INFO): DAT read: user:2224>

2025-08-21T07:20:45.006Z,1755760845.006 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-08-21T07:20:45.256Z,1755760845.256 [DAT](INFO): DAT read: Tx time:07:20:44.4168

2025-08-21T07:20:45.257Z,1755760845.257 [DAT](INFO): Ping request sent.
2025-08-21T07:20:45.257Z,1755760845.257 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:45.257Z,1755760845.257 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:46.008Z,1755760846.008 [MassServo](FAULT): Overload Error
2025-08-21T07:20:46.008Z,1755760846.008 [MassServo] Hardware Fault, FailCount= 1
2025-08-21T07:20:46.008Z,1755760846.008 [MassServo](ERROR): Hardware Fault
2025-08-21T07:20:46.136Z,1755760846.136 [CBIT](ERROR): Hardware Fault in component: MassServo
2025-08-21T07:20:46.285Z,1755760846.285 [MassServo](DEBUG): Uninitialize Mass Servo.
2025-08-21T07:20:46.285Z,1755760846.285 [MassServo](INFO): Powering down
2025-08-21T07:20:47.117Z,1755760847.117 [MassServo](DEBUG): Initializing EZServoServo.
2025-08-21T07:20:47.232Z,1755760847.232 [MassServo](DEBUG): Initializing MassServo.
2025-08-21T07:20:47.237Z,1755760847.237 [CBIT](INFO): Clearing failed state for component MassServo
2025-08-21T07:20:47.237Z,1755760847.237 [MassServo] No Fault, FailCount= 1
2025-08-21T07:20:48.028Z,1755760848.028 [DAT](INFO): DAT read: Rx Time:07:20:46.8239

2025-08-21T07:20:48.029Z,1755760848.029 [DAT](INFO): Rx dataTimestamp_ set to:1755760848.028445
2025-08-21T07:20:48.533Z,1755760848.533 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:48.534Z,1755760848.534 [DAT](INFO): DAT read: user:2225>

2025-08-21T07:20:48.535Z,1755760848.535 [DAT](INFO): DAT read: Tx time:07:20:47.9168

2025-08-21T07:20:48.535Z,1755760848.535 [DAT](INFO): Ping request sent.
2025-08-21T07:20:48.535Z,1755760848.535 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:48.536Z,1755760848.536 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-08-21T07:20:48.536Z,1755760848.536 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:48.536Z,1755760848.536 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:51.556Z,1755760851.556 [DAT](INFO): DAT read: Rx Time:07:20:50.3239

2025-08-21T07:20:51.557Z,1755760851.557 [DAT](INFO): Rx dataTimestamp_ set to:1755760851.556612
2025-08-21T07:20:52.061Z,1755760852.061 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:52.062Z,1755760852.062 [DAT](INFO): DAT read: user:2226>

2025-08-21T07:20:52.063Z,1755760852.063 [DAT](INFO): DAT read: Tx time:07:20:51.4168

2025-08-21T07:20:52.064Z,1755760852.064 [DAT](INFO): Ping request sent.
2025-08-21T07:20:52.064Z,1755760852.064 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:52.064Z,1755760852.064 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-08-21T07:20:52.064Z,1755760852.064 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:52.065Z,1755760852.065 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:55.084Z,1755760855.084 [DAT](INFO): DAT read: Rx Time:07:20:53.8238

2025-08-21T07:20:55.085Z,1755760855.085 [DAT](INFO): Rx dataTimestamp_ set to:1755760855.084352
2025-08-21T07:20:55.589Z,1755760855.589 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:55.590Z,1755760855.590 [DAT](INFO): DAT read: user:2227>

2025-08-21T07:20:55.591Z,1755760855.591 [DAT](INFO): DAT read: Tx time:07:20:54.9167

2025-08-21T07:20:55.591Z,1755760855.591 [DAT](INFO): Ping request sent.
2025-08-21T07:20:55.591Z,1755760855.591 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:55.591Z,1755760855.591 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-08-21T07:20:55.592Z,1755760855.592 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:55.592Z,1755760855.592 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:58.612Z,1755760858.612 [DAT](INFO): DAT read: Rx Time:07:20:57.3238

2025-08-21T07:20:58.613Z,1755760858.613 [DAT](INFO): Rx dataTimestamp_ set to:1755760858.612473
2025-08-21T07:20:59.117Z,1755760859.117 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:20:59.118Z,1755760859.118 [DAT](INFO): DAT read: user:2228>

2025-08-21T07:20:59.119Z,1755760859.119 [DAT](INFO): DAT read: Tx time:07:20:58.4167

2025-08-21T07:20:59.119Z,1755760859.119 [DAT](INFO): Ping request sent.
2025-08-21T07:20:59.119Z,1755760859.119 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:20:59.119Z,1755760859.119 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-08-21T07:20:59.119Z,1755760859.119 [DAT](INFO): publishing transmit ping time
2025-08-21T07:20:59.120Z,1755760859.120 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:00.920Z,1755760860.920 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-21T07:21:00.920Z,1755760860.920 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-21T07:21:00.930Z,1755760860.930 [DockingStepper](INFO): Changing to mode: 4
2025-08-21T07:21:02.141Z,1755760862.141 [DAT](INFO): DAT read: Rx Time:07:21:00.8238

2025-08-21T07:21:02.142Z,1755760862.142 [DAT](INFO): Rx dataTimestamp_ set to:1755760862.141399
2025-08-21T07:21:02.646Z,1755760862.646 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:21:02.647Z,1755760862.647 [DAT](INFO): DAT read: user:2229>

2025-08-21T07:21:02.648Z,1755760862.648 [DAT](INFO): DAT read: Tx time:07167

2025-08-21T07:21:02.649Z,1755760862.649 [DAT](INFO): unknown deviceResponse_: Tx time:07167

2025-08-21T07:21:02.649Z,1755760862.649 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-08-21T07:21:05.676Z,1755760865.676 [DAT](INFO): DAT read: Rx Time:07:21:04.3237

2025-08-21T07:21:05.677Z,1755760865.677 [DAT](INFO): Rx dataTimestamp_ set to:1755760865.676358
2025-08-21T07:21:06.181Z,1755760866.181 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed -0.1 m/s

2025-08-21T07:21:06.182Z,1755760866.182 [DAT](INFO): DAT read: user:2230>

2025-08-21T07:21:06.183Z,1755760866.183 [DAT](INFO): DAT read: Tx time:07:21:05.4167

2025-08-21T07:21:06.183Z,1755760866.183 [DAT](INFO): Ping request sent.
2025-08-21T07:21:06.183Z,1755760866.183 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:06.184Z,1755760866.184 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-08-21T07:21:06.184Z,1755760866.184 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:06.184Z,1755760866.184 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:09.204Z,1755760869.204 [DAT](INFO): DAT read: Rx Time:07:21:07.8238

2025-08-21T07:21:09.205Z,1755760869.205 [DAT](INFO): Rx dataTimestamp_ set to:1755760869.204429
2025-08-21T07:21:09.725Z,1755760869.725 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:21:09.726Z,1755760869.726 [DAT](INFO): DAT read: user:2231>

2025-08-21T07:21:09.727Z,1755760869.727 [DAT](INFO): DAT read: Tx time:07:21:08.9167

2025-08-21T07:21:09.727Z,1755760869.727 [DAT](INFO): Ping request sent.
2025-08-21T07:21:09.727Z,1755760869.727 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:09.728Z,1755760869.728 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-08-21T07:21:09.728Z,1755760869.728 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:09.728Z,1755760869.728 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:12.500Z,1755760872.500 [DAT](INFO): DAT read: Rx Time:07:21:11.3237

2025-08-21T07:21:12.501Z,1755760872.501 [DAT](INFO): Rx dataTimestamp_ set to:1755760872.500474
2025-08-21T07:21:13.005Z,1755760873.005 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:21:13.006Z,1755760873.006 [DAT](INFO): DAT read: user:2232>

2025-08-21T07:21:13.006Z,1755760873.006 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-08-21T07:21:13.256Z,1755760873.256 [DAT](INFO): DAT read: Tx time:07:21:12.4166

2025-08-21T07:21:13.257Z,1755760873.257 [DAT](INFO): Ping request sent.
2025-08-21T07:21:13.257Z,1755760873.257 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:13.257Z,1755760873.257 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:16.036Z,1755760876.036 [DAT](INFO): DAT read: Rx Time:07:21:14.8237

2025-08-21T07:21:16.037Z,1755760876.037 [DAT](INFO): Rx dataTimestamp_ set to:1755760876.036435
2025-08-21T07:21:16.541Z,1755760876.541 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:21:16.542Z,1755760876.542 [DAT](INFO): DAT read: user:2233>

2025-08-21T07:21:16.543Z,1755760876.543 [DAT](INFO): DAT read: Tx time:07:21:15.9166

2025-08-21T07:21:16.543Z,1755760876.543 [DAT](INFO): Ping request sent.
2025-08-21T07:21:16.543Z,1755760876.543 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:16.543Z,1755760876.543 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-08-21T07:21:16.543Z,1755760876.543 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:16.544Z,1755760876.544 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:17.486Z,1755760877.486 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V
2025-08-21T07:21:19.566Z,1755760879.566 [DAT](INFO): DAT read: Rx Time:07:21:18.3237

2025-08-21T07:21:19.567Z,1755760879.567 [DAT](INFO): Rx dataTimestamp_ set to:1755760879.566365
2025-08-21T07:21:20.070Z,1755760880.070 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:21:20.071Z,1755760880.071 [DAT](INFO): DAT read: user:2234>

2025-08-21T07:21:20.071Z,1755760880.071 [DAT](INFO): DAT read: Tx time:07:21:19.4166

2025-08-21T07:21:20.072Z,1755760880.072 [DAT](INFO): Ping request sent.
2025-08-21T07:21:20.072Z,1755760880.072 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:20.072Z,1755760880.072 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-08-21T07:21:20.072Z,1755760880.072 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:20.073Z,1755760880.073 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:23.096Z,1755760883.096 [DAT](INFO): DAT read: Rx Time:07:21:21.8237

2025-08-21T07:21:23.097Z,1755760883.097 [DAT](INFO): Rx dataTimestamp_ set to:1755760883.096527
2025-08-21T07:21:23.603Z,1755760883.603 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:21:23.604Z,1755760883.604 [DAT](INFO): DAT read: user:2235>

2025-08-21T07:21:23.605Z,1755760883.605 [DAT](INFO): DAT read: Tx time:07:21:22.9166

2025-08-21T07:21:23.605Z,1755760883.605 [DAT](INFO): Ping request sent.
2025-08-21T07:21:23.605Z,1755760883.605 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:23.606Z,1755760883.606 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-08-21T07:21:23.606Z,1755760883.606 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:23.607Z,1755760883.607 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:26.625Z,1755760886.625 [DAT](INFO): DAT read: Rx Time:07:21:25.3237

2025-08-21T07:21:26.625Z,1755760886.625 [DAT](INFO): Rx dataTimestamp_ set to:1755760886.624701
2025-08-21T07:21:27.134Z,1755760887.134 [DAT](INFO): DAT read: 07:21:25.3237 LVL= 23312, 21201, 26178, 24771, AGC= 47, IDX= 442,-0.21,-2.278,-2.080, 2.797,-1.122, PHS=-1.054,-0.913,-2.408, RAW=  25.1,  47.3, CAL=  23.6,  52.0, ROT= 126.4, -52.0

2025-08-21T07:21:27.135Z,1755760887.135 [DAT](INFO): got valid direction response:
 07:21:25.3237 LVL= 23312, 21201, 26178, 24771, AGC= 47, IDX= 442,-0.21,-2.278,-2.080, 2.797,-1.122, PHS=-1.054,-0.913,-2.408, RAW=  25.1,  47.3, CAL=  23.6,  52.0, ROT= 126.4, -52.0

2025-08-21T07:21:27.136Z,1755760887.136 [DAT](INFO): DAT read: Bearing   2.7,  37.7 (Local)

2025-08-21T07:21:27.136Z,1755760887.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  37.7 (Local)

2025-08-21T07:21:27.138Z,1755760887.138 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.9 ms) speed  0.0 m/s

2025-08-21T07:21:27.138Z,1755760887.138 [DAT](INFO): DAT read: user:2236>

2025-08-21T07:21:27.139Z,1755760887.139 [DAT](INFO): DAT read: Tx time:07:21:26.4166

2025-08-21T07:21:27.140Z,1755760887.140 [DAT](INFO): Ping request sent.
2025-08-21T07:21:27.140Z,1755760887.140 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:27.140Z,1755760887.140 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-21T07:21:27.142Z,1755760887.142 [DAT](INFO): direction in FSK: [-0.365345,0.495542,0.788011]
2025-08-21T07:21:27.142Z,1755760887.142 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:27.142Z,1755760887.142 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:27.177Z,1755760887.177 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:27.178Z,1755760887.178 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:30.153Z,1755760890.153 [DAT](INFO): DAT read: Rx Time:07:21:28.8234

2025-08-21T07:21:30.153Z,1755760890.153 [DAT](INFO): Rx dataTimestamp_ set to:1755760890.153116
2025-08-21T07:21:30.662Z,1755760890.662 [DAT](INFO): DAT read: 07:21:28.8234 LVL= 26576, 14417, 25810, 32755, AGC= 44, IDX= 440, 0.03,-2.566,-2.528, 2.854,-1.475, PHS=-0.989,-1.008,-1.999, RAW=  31.0,  54.7, CAL=  29.5,  58.6, ROT= 120.5, -58.6

2025-08-21T07:21:30.663Z,1755760890.663 [DAT](INFO): got valid direction response:
 07:21:28.8234 LVL= 26576, 14417, 25810, 32755, AGC= 44, IDX= 440, 0.03,-2.566,-2.528, 2.854,-1.475, PHS=-0.989,-1.008,-1.999, RAW=  31.0,  54.7, CAL=  29.5,  58.6, ROT= 120.5, -58.6

2025-08-21T07:21:30.664Z,1755760890.664 [DAT](INFO): DAT read: Bearing 356.4,  28.8 (Local)

2025-08-21T07:21:30.664Z,1755760890.664 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,  28.8 (Local)

2025-08-21T07:21:30.666Z,1755760890.666 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-21T07:21:30.666Z,1755760890.666 [DAT](INFO): DAT read: user:2237>

2025-08-21T07:21:30.667Z,1755760890.667 [DAT](INFO): DAT read: Tx time:07:21:29.9166

2025-08-21T07:21:30.667Z,1755760890.667 [DAT](INFO): Ping request sent.
2025-08-21T07:21:30.668Z,1755760890.668 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:30.668Z,1755760890.668 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-21T07:21:30.669Z,1755760890.669 [DAT](INFO): direction in FSK: [-0.264432,0.448917,0.853551]
2025-08-21T07:21:30.669Z,1755760890.669 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:30.669Z,1755760890.669 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:30.685Z,1755760890.685 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:30.685Z,1755760890.685 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:33.680Z,1755760893.680 [DAT](INFO): DAT read: Rx Time:07:21:32.3233

2025-08-21T07:21:33.681Z,1755760893.681 [DAT](INFO): Rx dataTimestamp_ set to:1755760893.680608
2025-08-21T07:21:34.190Z,1755760894.190 [DAT](INFO): DAT read: 07:21:32.3233 LVL= 27024, 16497, 22322, 30547, AGC= 44, IDX= 439, 0.10, 1.209, 1.201,-0.010, 2.261, PHS=-0.950,-1.015,-2.316, RAW=  32.4,  48.6, CAL=  30.7,  53.2, ROT= 119.3, -53.2

2025-08-21T07:21:34.191Z,1755760894.191 [DAT](INFO): got valid direction response:
 07:21:32.3233 LVL= 27024, 16497, 22322, 30547, AGC= 44, IDX= 439, 0.10, 1.209, 1.201,-0.010, 2.261, PHS=-0.950,-1.015,-2.316, RAW=  32.4,  48.6, CAL=  30.7,  53.2, ROT= 119.3, -53.2

2025-08-21T07:21:34.192Z,1755760894.192 [DAT](INFO): DAT read: Bearing 358.3,  37.4 (Local)

2025-08-21T07:21:34.192Z,1755760894.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.3,  37.4 (Local)

2025-08-21T07:21:34.194Z,1755760894.194 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:21:34.195Z,1755760894.195 [DAT](INFO): DAT read: user:2238>

2025-08-21T07:21:34.195Z,1755760894.195 [DAT](INFO): DAT read: Tx time:07:21:33.4166

2025-08-21T07:21:34.196Z,1755760894.196 [DAT](INFO): Ping request sent.
2025-08-21T07:21:34.196Z,1755760894.196 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:34.196Z,1755760894.196 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-21T07:21:34.197Z,1755760894.197 [DAT](INFO): direction in FSK: [-0.293152,0.522390,0.800731]
2025-08-21T07:21:34.197Z,1755760894.197 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:34.197Z,1755760894.197 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:34.202Z,1755760894.202 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:34.203Z,1755760894.203 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:37.208Z,1755760897.208 [DAT](INFO): DAT read: Rx Time:07:21:35.8233

2025-08-21T07:21:37.209Z,1755760897.209 [DAT](INFO): Rx dataTimestamp_ set to:1755760897.208454
2025-08-21T07:21:37.718Z,1755760897.718 [DAT](INFO): DAT read: 07:21:35.8233 LVL= 30272, 21441, 22082, 31091, AGC= 45, IDX= 439, 0.24, 0.268, 0.314,-0.957, 1.364, PHS=-0.994,-1.005,-2.365, RAW=  30.4,  48.5, CAL=  28.8,  53.1, ROT= 121.2, -53.1

2025-08-21T07:21:37.719Z,1755760897.719 [DAT](INFO): got valid direction response:
 07:21:35.8233 LVL= 30272, 21441, 22082, 31091, AGC= 45, IDX= 439, 0.24, 0.268, 0.314,-0.957, 1.364, PHS=-0.994,-1.005,-2.365, RAW=  30.4,  48.5, CAL=  28.8,  53.1, ROT= 121.2, -53.1

2025-08-21T07:21:37.720Z,1755760897.720 [DAT](INFO): DAT read: Bearing 358.9,  37.0 (Local)

2025-08-21T07:21:37.720Z,1755760897.720 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.9,  37.0 (Local)

2025-08-21T07:21:37.722Z,1755760897.722 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:21:37.723Z,1755760897.723 [DAT](INFO): DAT read: user:2239>

2025-08-21T07:21:37.740Z,1755760897.740 [DAT](INFO): DAT read: Tx time:07:21:36.9166

2025-08-21T07:21:37.740Z,1755760897.740 [DAT](INFO): Ping request sent.
2025-08-21T07:21:37.740Z,1755760897.740 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:37.741Z,1755760897.741 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-21T07:21:37.743Z,1755760897.743 [DAT](INFO): direction in FSK: [-0.311034,0.513578,0.799685]
2025-08-21T07:21:37.748Z,1755760897.748 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:37.748Z,1755760897.748 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:37.754Z,1755760897.754 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:37.754Z,1755760897.754 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:40.484Z,1755760900.484 [DAT](INFO): DAT read: Rx Time:07:21:39.3233

2025-08-21T07:21:40.485Z,1755760900.485 [DAT](INFO): Rx dataTimestamp_ set to:1755760900.484553
2025-08-21T07:21:41.249Z,1755760901.249 [DAT](INFO): DAT read: 07:21:39.3233 LVL= 22768, 19265, 22370, 28499, AGC= 45, IDX= 439, 0.39,-1.726,-1.672,-2.918,-0.636, PHS=-0.988,-0.991,-2.326, RAW=  30.1,  48.7, CAL=  28.5,  53.3, ROT= 121.5, -53.3

2025-08-21T07:21:41.250Z,1755760901.250 [DAT](INFO): got valid direction response:
 07:21:39.3233 LVL= 22768, 19265, 22370, 28499, AGC= 45, IDX= 439, 0.39,-1.726,-1.672,-2.918,-0.636, PHS=-0.988,-0.991,-2.326, RAW=  30.1,  48.7, CAL=  28.5,  53.3, ROT= 121.5, -53.3

2025-08-21T07:21:41.256Z,1755760901.256 [DAT](INFO): DAT read: Bearing 358.4,  36.4 (Local)

2025-08-21T07:21:41.257Z,1755760901.257 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  36.4 (Local)

2025-08-21T07:21:41.259Z,1755760901.259 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:21:41.260Z,1755760901.260 [DAT](INFO): DAT read: user:2240>

2025-08-21T07:21:41.262Z,1755760901.262 [DAT](INFO): DAT read: Tx time:07:21:40.4166

2025-08-21T07:21:41.262Z,1755760901.262 [DAT](INFO): Ping request sent.
2025-08-21T07:21:41.262Z,1755760901.262 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:41.263Z,1755760901.263 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-21T07:21:41.264Z,1755760901.264 [DAT](INFO): direction in FSK: [-0.312258,0.509559,0.801776]
2025-08-21T07:21:41.264Z,1755760901.264 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:41.264Z,1755760901.264 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:41.280Z,1755760901.280 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:41.280Z,1755760901.280 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:44.020Z,1755760904.020 [DAT](INFO): DAT read: Rx Time:07:21:42.8232

2025-08-21T07:21:44.021Z,1755760904.021 [DAT](INFO): Rx dataTimestamp_ set to:1755760904.020377
2025-08-21T07:21:44.544Z,1755760904.544 [DAT](INFO): DAT read: 07:21:42.8232 LVL= 29552, 19649, 21330, 31475, AGC= 45, IDX= 439,-0.37, 0.482, 0.466,-0.808, 1.521, PHS=-0.937,-1.010,-2.373, RAW=  32.6,  47.5, CAL=  30.8,  52.2, ROT= 119.2, -52.2

2025-08-21T07:21:44.545Z,1755760904.545 [DAT](INFO): got valid direction response:
 07:21:42.8232 LVL= 29552, 19649, 21330, 31475, AGC= 45, IDX= 439,-0.37, 0.482, 0.466,-0.808, 1.521, PHS=-0.937,-1.010,-2.373, RAW=  32.6,  47.5, CAL=  30.8,  52.2, ROT= 119.2, -52.2

2025-08-21T07:21:44.546Z,1755760904.546 [DAT](INFO): DAT read: Bearing 358.8,  38.6 (Local)

2025-08-21T07:21:44.546Z,1755760904.546 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,  38.6 (Local)

2025-08-21T07:21:44.577Z,1755760904.577 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T07:21:44.577Z,1755760904.577 [DAT](INFO): DAT read: user:2241>

2025-08-21T07:21:44.578Z,1755760904.578 [DAT](INFO): DAT read: Tx time:07:21:43.9166

2025-08-21T07:21:44.578Z,1755760904.578 [DAT](INFO): Ping request sent.
2025-08-21T07:21:44.578Z,1755760904.578 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:44.579Z,1755760904.579 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-21T07:21:44.592Z,1755760904.592 [DAT](INFO): direction in FSK: [-0.299013,0.535020,0.790155]
2025-08-21T07:21:44.592Z,1755760904.592 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:44.593Z,1755760904.593 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:44.601Z,1755760904.601 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:44.601Z,1755760904.601 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:47.560Z,1755760907.560 [DAT](INFO): DAT read: Rx Time:07:21:46.3232

2025-08-21T07:21:47.561Z,1755760907.561 [DAT](INFO): Rx dataTimestamp_ set to:1755760907.560409
2025-08-21T07:21:48.070Z,1755760908.070 [DAT](INFO): DAT read: 07:21:46.3232 LVL= 32752, 16769, 21906, 32627, AGC= 45, IDX= 439,-0.21,-0.306,-0.360,-1.577, 0.692, PHS=-0.896,-1.007,-2.313, RAW=  34.0,  47.5, CAL=  32.2,  52.3, ROT= 117.8, -52.3

2025-08-21T07:21:48.071Z,1755760908.071 [DAT](INFO): got valid direction response:
 07:21:46.3232 LVL= 32752, 16769, 21906, 32627, AGC= 45, IDX= 439,-0.21,-0.306,-0.360,-1.577, 0.692, PHS=-0.896,-1.007,-2.313, RAW=  34.0,  47.5, CAL=  32.2,  52.3, ROT= 117.8, -52.3

2025-08-21T07:21:48.072Z,1755760908.072 [DAT](INFO): DAT read: Bearing 359.1,  39.0 (Local)

2025-08-21T07:21:48.072Z,1755760908.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,  39.0 (Local)

2025-08-21T07:21:48.074Z,1755760908.074 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:21:48.074Z,1755760908.074 [DAT](INFO): DAT read: user:2242>

2025-08-21T07:21:48.075Z,1755760908.075 [DAT](INFO): DAT read: Tx time:07:21:47.4165

2025-08-21T07:21:48.076Z,1755760908.076 [DAT](INFO): Ping request sent.
2025-08-21T07:21:48.076Z,1755760908.076 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:48.076Z,1755760908.076 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-21T07:21:48.077Z,1755760908.077 [DAT](INFO): direction in FSK: [-0.285208,0.540945,0.791224]
2025-08-21T07:21:48.077Z,1755760908.077 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:48.077Z,1755760908.077 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:48.094Z,1755760908.094 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:48.094Z,1755760908.094 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:48.272Z,1755760908.272 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-21T07:11:48.0Z
2025-08-21T07:21:48.272Z,1755760908.272 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-21T07:21:48.272Z,1755760908.272 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:21:48.272Z,1755760908.272 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-21T07:21:48.272Z,1755760908.272 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:21:48.272Z,1755760908.272 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-21T07:21:48.607Z,1755760908.607 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T07:21:48.607Z,1755760908.607 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-21T07:21:48.607Z,1755760908.607 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-21T07:21:48.607Z,1755760908.607 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:21:48.608Z,1755760908.608 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-21T07:21:51.089Z,1755760911.089 [DAT](INFO): DAT read: Rx Time:07:21:49.8232

2025-08-21T07:21:51.090Z,1755760911.090 [DAT](INFO): Rx dataTimestamp_ set to:1755760911.089110
2025-08-21T07:21:51.602Z,1755760911.602 [DAT](INFO): DAT read: 07:21:49.8232 LVL= 25648, 16577, 25906, 30067, AGC= 44, IDX= 439,-0.10,-1.211,-1.301,-2.445,-0.225, PHS=-0.883,-1.031,-2.263, RAW=  35.6,  48.4, CAL=  33.8,  53.1, ROT= 116.2, -53.1

2025-08-21T07:21:51.603Z,1755760911.603 [DAT](INFO): got valid direction response:
 07:21:49.8232 LVL= 25648, 16577, 25906, 30067, AGC= 44, IDX= 439,-0.10,-1.211,-1.301,-2.445,-0.225, PHS=-0.883,-1.031,-2.263, RAW=  35.6,  48.4, CAL=  33.8,  53.1, ROT= 116.2, -53.1

2025-08-21T07:21:51.604Z,1755760911.604 [DAT](INFO): DAT read: Bearing 356.2,  39.1 (Local)

2025-08-21T07:21:51.605Z,1755760911.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  39.1 (Local)

2025-08-21T07:21:51.606Z,1755760911.606 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:21:51.607Z,1755760911.607 [DAT](INFO): DAT read: user:2243>

2025-08-21T07:21:51.608Z,1755760911.608 [DAT](INFO): DAT read: Tx time:07:21:50.9165

2025-08-21T07:21:51.608Z,1755760911.608 [DAT](INFO): Ping request sent.
2025-08-21T07:21:51.608Z,1755760911.608 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:51.609Z,1755760911.609 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-21T07:21:51.610Z,1755760911.610 [DAT](INFO): direction in FSK: [-0.265089,0.538732,0.799685]
2025-08-21T07:21:51.610Z,1755760911.610 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:51.610Z,1755760911.610 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:51.613Z,1755760911.613 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:51.614Z,1755760911.614 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:54.618Z,1755760914.618 [DAT](INFO): DAT read: Rx Time:07:21:53.3232

2025-08-21T07:21:54.619Z,1755760914.619 [DAT](INFO): Rx dataTimestamp_ set to:1755760914.618266
2025-08-21T07:21:55.132Z,1755760915.132 [DAT](INFO): DAT read: 07:21:53.3232 LVL= 28032, 15921, 26450, 29427, AGC= 45, IDX= 439,-0.02,-1.766,-1.892,-2.987,-0.777, PHS=-0.887,-1.070,-2.254, RAW=  37.1,  49.2, CAL=  35.3,  53.9, ROT= 114.7, -53.9

2025-08-21T07:21:55.133Z,1755760915.133 [DAT](INFO): got valid direction response:
 07:21:53.3232 LVL= 28032, 15921, 26450, 29427, AGC= 45, IDX= 439,-0.02,-1.766,-1.892,-2.987,-0.777, PHS=-0.887,-1.070,-2.254, RAW=  37.1,  49.2, CAL=  35.3,  53.9, ROT= 114.7, -53.9

2025-08-21T07:21:55.135Z,1755760915.135 [DAT](INFO): DAT read: Bearing 353.6,  37.8 (Local)

2025-08-21T07:21:55.135Z,1755760915.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,  37.8 (Local)

2025-08-21T07:21:55.137Z,1755760915.137 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:21:55.138Z,1755760915.138 [DAT](INFO): DAT read: user:2244>

2025-08-21T07:21:55.145Z,1755760915.145 [DAT](INFO): DAT read: Tx time:07:21:54.4165

2025-08-21T07:21:55.145Z,1755760915.145 [DAT](INFO): Ping request sent.
2025-08-21T07:21:55.146Z,1755760915.146 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:55.146Z,1755760915.146 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-21T07:21:55.148Z,1755760915.148 [DAT](INFO): direction in FSK: [-0.246206,0.535290,0.807990]
2025-08-21T07:21:55.148Z,1755760915.148 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:55.148Z,1755760915.148 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:55.175Z,1755760915.175 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:55.176Z,1755760915.176 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:58.145Z,1755760918.145 [DAT](INFO): DAT read: Rx Time:07:21:56.8232

2025-08-21T07:21:58.145Z,1755760918.145 [DAT](INFO): Rx dataTimestamp_ set to:1755760918.145038
2025-08-21T07:21:58.654Z,1755760918.654 [DAT](INFO): DAT read: 07:21:56.8232 LVL= 28208, 17569, 23746, 29347, AGC= 44, IDX= 439, 0.05,-1.943,-1.996, 3.095,-0.919, PHS=-0.923,-1.033,-2.313, RAW=  34.1,  48.4, CAL=  32.3,  53.1, ROT= 117.7, -53.1

2025-08-21T07:21:58.655Z,1755760918.655 [DAT](INFO): got valid direction response:
 07:21:56.8232 LVL= 28208, 17569, 23746, 29347, AGC= 44, IDX= 439, 0.05,-1.943,-1.996, 3.095,-0.919, PHS=-0.923,-1.033,-2.313, RAW=  34.1,  48.4, CAL=  32.3,  53.1, ROT= 117.7, -53.1

2025-08-21T07:21:58.663Z,1755760918.663 [DAT](INFO): DAT read: Bearing 357.4,  38.3 (Local)

2025-08-21T07:21:58.663Z,1755760918.663 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,  38.3 (Local)

2025-08-21T07:21:58.665Z,1755760918.665 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:21:58.665Z,1755760918.665 [DAT](INFO): DAT read: user:2245>

2025-08-21T07:21:58.666Z,1755760918.666 [DAT](INFO): DAT read: Tx time:07:21:57.9165

2025-08-21T07:21:58.666Z,1755760918.666 [DAT](INFO): Ping request sent.
2025-08-21T07:21:58.666Z,1755760918.666 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:21:58.667Z,1755760918.667 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-21T07:21:58.700Z,1755760918.700 [DAT](INFO): direction in FSK: [-0.279101,0.531608,0.799685]
2025-08-21T07:21:58.701Z,1755760918.701 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:58.701Z,1755760918.701 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:58.729Z,1755760918.729 [DAT](INFO): publishing transmit ping time
2025-08-21T07:21:58.729Z,1755760918.729 [DAT](INFO): publishing direction and range info
2025-08-21T07:21:59.532Z,1755760919.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:21:59.656Z,1755760919.656 [DAT](INFO): ****** received valid address query ******
2025-08-21T07:21:59.656Z,1755760919.656 [DAT](INFO): ****** received valid ping request ******
2025-08-21T07:21:59.656Z,1755760919.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:21:59.912Z,1755760919.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245326
2025-08-21T07:22:00.161Z,1755760920.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494231
2025-08-21T07:22:00.412Z,1755760920.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745700
2025-08-21T07:22:00.664Z,1755760920.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997669
2025-08-21T07:22:00.919Z,1755760920.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251855
2025-08-21T07:22:01.168Z,1755760921.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501837
2025-08-21T07:22:01.420Z,1755760921.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753625
2025-08-21T07:22:01.673Z,1755760921.673 [DAT](INFO): DAT read: Rx Time:07:22:00.3232

2025-08-21T07:22:01.674Z,1755760921.674 [DAT](INFO): Rx dataTimestamp_ set to:1755760921.673941
2025-08-21T07:22:01.676Z,1755760921.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008873
2025-08-21T07:22:01.927Z,1755760921.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259962
2025-08-21T07:22:02.186Z,1755760922.186 [DAT](INFO): DAT read: 07:22:00.3232 LVL= 29264, 16305, 26194, 28403, AGC= 45, IDX= 439, 0.15,-3.108, 3.130, 1.907,-2.084, PHS=-0.922,-1.024,-2.336, RAW=  33.7,  48.0, CAL=  31.9,  52.7, ROT= 118.1, -52.7

2025-08-21T07:22:02.193Z,1755760922.193 [DAT](INFO): got valid direction response:
 07:22:00.3232 LVL= 29264, 16305, 26194, 28403, AGC= 45, IDX= 439, 0.15,-3.108, 3.130, 1.907,-2.084, PHS=-0.922,-1.024,-2.336, RAW=  33.7,  48.0, CAL=  31.9,  52.7, ROT= 118.1, -52.7

2025-08-21T07:22:02.194Z,1755760922.194 [DAT](INFO): DAT read: Bearing   0.3,  38.9 (Local)

2025-08-21T07:22:02.195Z,1755760922.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.3,  38.9 (Local)

2025-08-21T07:22:02.197Z,1755760922.197 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:22:02.199Z,1755760922.199 [DAT](INFO): DAT read: user:2246>

2025-08-21T07:22:02.200Z,1755760922.200 [DAT](INFO): DAT read: Tx time:07:22:01.4165

2025-08-21T07:22:02.200Z,1755760922.200 [DAT](INFO): Ping request sent.
2025-08-21T07:22:02.201Z,1755760922.201 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:02.201Z,1755760922.201 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:22:02.202Z,1755760922.202 [DAT](INFO): direction in FSK: [-0.285428,0.534559,0.795473]
2025-08-21T07:22:02.203Z,1755760922.203 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:02.203Z,1755760922.203 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:02.206Z,1755760922.206 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:02.206Z,1755760922.206 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:05.200Z,1755760925.200 [DAT](INFO): DAT read: Rx Time:07:22:03.8231

2025-08-21T07:22:05.201Z,1755760925.201 [DAT](INFO): Rx dataTimestamp_ set to:1755760925.200339
2025-08-21T07:22:05.710Z,1755760925.710 [DAT](INFO): DAT read: 07:22:03.8231 LVL= 26384, 15921, 26434, 30403, AGC= 45, IDX= 439, 0.27, 1.946, 1.875, 0.696, 2.957, PHS=-0.908,-1.036,-2.305, RAW=  34.8,  48.3, CAL=  33.0,  53.0, ROT= 117.0, -53.0

2025-08-21T07:22:05.711Z,1755760925.711 [DAT](INFO): got valid direction response:
 07:22:03.8231 LVL= 26384, 15921, 26434, 30403, AGC= 45, IDX= 439, 0.27, 1.946, 1.875, 0.696, 2.957, PHS=-0.908,-1.036,-2.305, RAW=  34.8,  48.3, CAL=  33.0,  53.0, ROT= 117.0, -53.0

2025-08-21T07:22:05.712Z,1755760925.712 [DAT](INFO): DAT read: Bearing 359.1,  38.5 (Local)

2025-08-21T07:22:05.712Z,1755760925.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.1,  38.5 (Local)

2025-08-21T07:22:05.714Z,1755760925.714 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:22:05.714Z,1755760925.714 [DAT](INFO): DAT read: user:2247>

2025-08-21T07:22:05.715Z,1755760925.715 [DAT](INFO): DAT read: Tx time:07:22:04.9164

2025-08-21T07:22:05.716Z,1755760925.716 [DAT](INFO): Ping request sent.
2025-08-21T07:22:05.716Z,1755760925.716 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:05.716Z,1755760925.716 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-21T07:22:05.717Z,1755760925.717 [DAT](INFO): direction in FSK: [-0.273218,0.536221,0.798636]
2025-08-21T07:22:05.717Z,1755760925.717 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:05.718Z,1755760925.718 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:05.721Z,1755760925.721 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:05.721Z,1755760925.721 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:08.478Z,1755760928.478 [DAT](INFO): DAT read: Rx Time:07:22:07.3231

2025-08-21T07:22:08.479Z,1755760928.479 [DAT](INFO): Rx dataTimestamp_ set to:1755760928.478048
2025-08-21T07:22:09.238Z,1755760929.238 [DAT](INFO): DAT read: 07:22:07.3231 LVL= 29424, 16049, 22706, 29043, AGC= 45, IDX= 439, 0.43, 0.992, 0.896,-0.260, 2.001, PHS=-0.907,-1.060,-2.305, RAW=  35.7,  48.7, CAL=  33.9,  53.4, ROT= 116.1, -53.4

2025-08-21T07:22:09.239Z,1755760929.239 [DAT](INFO): got valid direction response:
 07:22:07.3231 LVL= 29424, 16049, 22706, 29043, AGC= 45, IDX= 439, 0.43, 0.992, 0.896,-0.260, 2.001, PHS=-0.907,-1.060,-2.305, RAW=  35.7,  48.7, CAL=  33.9,  53.4, ROT= 116.1, -53.4

2025-08-21T07:22:09.240Z,1755760929.240 [DAT](INFO): DAT read: Bearing 355.8,  38.4 (Local)

2025-08-21T07:22:09.240Z,1755760929.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.8,  38.4 (Local)

2025-08-21T07:22:09.242Z,1755760929.242 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:22:09.243Z,1755760929.243 [DAT](INFO): DAT read: user:2248>

2025-08-21T07:22:09.243Z,1755760929.243 [DAT](INFO): DAT read: Tx time:07:22:08.4164

2025-08-21T07:22:09.244Z,1755760929.244 [DAT](INFO): Ping request sent.
2025-08-21T07:22:09.244Z,1755760929.244 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:09.244Z,1755760929.244 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-21T07:22:09.245Z,1755760929.245 [DAT](INFO): direction in FSK: [-0.262303,0.535426,0.802817]
2025-08-21T07:22:09.245Z,1755760929.245 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:09.246Z,1755760929.246 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:09.249Z,1755760929.249 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:09.249Z,1755760929.249 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:12.008Z,1755760932.008 [DAT](INFO): DAT read: Rx Time:07:22:10.8231

2025-08-21T07:22:12.009Z,1755760932.009 [DAT](INFO): Rx dataTimestamp_ set to:1755760932.008526
2025-08-21T07:22:12.531Z,1755760932.531 [DAT](INFO): DAT read: 07:22:10.8231 LVL= 31440, 20065, 20674, 32307, AGC= 45, IDX= 440,-0.35,-2.300,-2.403, 2.717,-1.316, PHS=-0.883,-1.042,-2.294, RAW=  35.9,  48.1, CAL=  34.1,  52.9, ROT= 115.9, -52.9

2025-08-21T07:22:12.534Z,1755760932.534 [DAT](INFO): got valid direction response:
 07:22:10.8231 LVL= 31440, 20065, 20674, 32307, AGC= 45, IDX= 440,-0.35,-2.300,-2.403, 2.717,-1.316, PHS=-0.883,-1.042,-2.294, RAW=  35.9,  48.1, CAL=  34.1,  52.9, ROT= 115.9, -52.9

2025-08-21T07:22:12.540Z,1755760932.540 [DAT](INFO): DAT read: Bearing 356.4,  38.6 (Local)

2025-08-21T07:22:12.540Z,1755760932.540 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,  38.6 (Local)

2025-08-21T07:22:12.542Z,1755760932.542 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:22:12.542Z,1755760932.542 [DAT](INFO): DAT read: user:2249>

2025-08-21T07:22:12.552Z,1755760932.552 [DAT](INFO): DAT read: Tx time:07:22:11.9164

2025-08-21T07:22:12.552Z,1755760932.552 [DAT](INFO): Ping request sent.
2025-08-21T07:22:12.552Z,1755760932.552 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:12.552Z,1755760932.552 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-21T07:22:12.553Z,1755760932.553 [DAT](INFO): direction in FSK: [-0.263482,0.542620,0.797584]
2025-08-21T07:22:12.553Z,1755760932.553 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:12.554Z,1755760932.554 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:12.569Z,1755760932.569 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:12.569Z,1755760932.569 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:15.540Z,1755760935.540 [DAT](INFO): DAT read: Rx Time:07:22:14.3231

2025-08-21T07:22:15.541Z,1755760935.541 [DAT](INFO): Rx dataTimestamp_ set to:1755760935.540310
2025-08-21T07:22:16.064Z,1755760936.064 [DAT](INFO): DAT read: 07:22:14.3231 LVL= 32576, 18417, 22818, 32755, AGC= 44, IDX= 439,-0.24, 1.402, 1.353, 0.111, 2.397, PHS=-0.893,-0.998,-2.329, RAW=  33.8,  47.1, CAL=  32.0,  51.9, ROT= 118.0, -51.9

2025-08-21T07:22:16.065Z,1755760936.065 [DAT](INFO): got valid direction response:
 07:22:14.3231 LVL= 32576, 18417, 22818, 32755, AGC= 44, IDX= 439,-0.24, 1.402, 1.353, 0.111, 2.397, PHS=-0.893,-0.998,-2.329, RAW=  33.8,  47.1, CAL=  32.0,  51.9, ROT= 118.0, -51.9

2025-08-21T07:22:16.066Z,1755760936.066 [DAT](INFO): DAT read: Bearing   1.8,  39.3 (Local)

2025-08-21T07:22:16.066Z,1755760936.066 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.8,  39.3 (Local)

2025-08-21T07:22:16.071Z,1755760936.071 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:22:16.072Z,1755760936.072 [DAT](INFO): DAT read: user:2250>

2025-08-21T07:22:16.073Z,1755760936.073 [DAT](INFO): DAT read: Tx time:07:22:15.4164

2025-08-21T07:22:16.073Z,1755760936.073 [DAT](INFO): Ping request sent.
2025-08-21T07:22:16.073Z,1755760936.073 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:16.074Z,1755760936.074 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-21T07:22:16.075Z,1755760936.075 [DAT](INFO): direction in FSK: [-0.289681,0.544810,0.786935]
2025-08-21T07:22:16.075Z,1755760936.075 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:16.079Z,1755760936.079 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:16.082Z,1755760936.082 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:16.083Z,1755760936.083 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:19.080Z,1755760939.080 [DAT](INFO): DAT read: Rx Time:07:22:17.8231

2025-08-21T07:22:19.081Z,1755760939.081 [DAT](INFO): Rx dataTimestamp_ set to:1755760939.080467
2025-08-21T07:22:19.590Z,1755760939.590 [DAT](INFO): DAT read: 07:22:17.8231 LVL= 32752, 16737, 22098, 30707, AGC= 45, IDX= 439,-0.10, 0.244, 0.182,-1.037, 1.237, PHS=-0.890,-1.009,-2.318, RAW=  34.3,  47.4, CAL=  32.5,  52.2, ROT= 117.5, -52.2

2025-08-21T07:22:19.591Z,1755760939.591 [DAT](INFO): got valid direction response:
 07:22:17.8231 LVL= 32752, 16737, 22098, 30707, AGC= 45, IDX= 439,-0.10, 0.244, 0.182,-1.037, 1.237, PHS=-0.890,-1.009,-2.318, RAW=  34.3,  47.4, CAL=  32.5,  52.2, ROT= 117.5, -52.2

2025-08-21T07:22:19.592Z,1755760939.592 [DAT](INFO): DAT read: Bearing   2.7,  39.7 (Local)

2025-08-21T07:22:19.592Z,1755760939.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.7,  39.7 (Local)

2025-08-21T07:22:19.594Z,1755760939.594 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:22:19.594Z,1755760939.594 [DAT](INFO): DAT read: user:2251>

2025-08-21T07:22:19.595Z,1755760939.595 [DAT](INFO): DAT read: Tx time:07:22:18.9164

2025-08-21T07:22:19.595Z,1755760939.595 [DAT](INFO): Ping request sent.
2025-08-21T07:22:19.596Z,1755760939.596 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:19.596Z,1755760939.596 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-21T07:22:19.597Z,1755760939.597 [DAT](INFO): direction in FSK: [-0.283009,0.543655,0.790155]
2025-08-21T07:22:19.597Z,1755760939.597 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:19.597Z,1755760939.597 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:19.601Z,1755760939.601 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:19.601Z,1755760939.601 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:22.634Z,1755760942.634 [DAT](INFO): DAT read: Rx Time:07:22:21.3230

2025-08-21T07:22:22.634Z,1755760942.634 [DAT](INFO): Rx dataTimestamp_ set to:1755760942.633923
2025-08-21T07:22:23.145Z,1755760943.145 [DAT](INFO): DAT read: 07:22:21.3230 LVL= 28400, 16497, 26146, 29875, AGC= 44, IDX= 439,-0.04,-0.214,-0.298,-1.445, 0.773, PHS=-0.886,-1.026,-2.262, RAW=  35.3,  48.4, CAL=  33.5,  53.1, ROT= 116.5, -53.1

2025-08-21T07:22:23.146Z,1755760943.146 [DAT](INFO): got valid direction response:
 07:22:21.3230 LVL= 28400, 16497, 26146, 29875, AGC= 44, IDX= 439,-0.04,-0.214,-0.298,-1.445, 0.773, PHS=-0.886,-1.026,-2.262, RAW=  35.3,  48.4, CAL=  33.5,  53.1, ROT= 116.5, -53.1

2025-08-21T07:22:23.164Z,1755760943.164 [DAT](INFO): DAT read: Bearing 359.5,  38.6 (Local)

2025-08-21T07:22:23.164Z,1755760943.164 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.5,  38.6 (Local)

2025-08-21T07:22:23.166Z,1755760943.166 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:22:23.169Z,1755760943.169 [DAT](INFO): DAT read: user:2252>

2025-08-21T07:22:23.170Z,1755760943.170 [DAT](INFO): DAT read: Tx time:07:22:22.4163

2025-08-21T07:22:23.170Z,1755760943.170 [DAT](INFO): Ping request sent.
2025-08-21T07:22:23.170Z,1755760943.170 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:23.171Z,1755760943.171 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-21T07:22:23.173Z,1755760943.173 [DAT](INFO): direction in FSK: [-0.267906,0.537337,0.799685]
2025-08-21T07:22:23.173Z,1755760943.173 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:23.173Z,1755760943.173 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:23.178Z,1755760943.178 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:23.178Z,1755760943.178 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:26.165Z,1755760946.165 [DAT](INFO): DAT read: Rx Time:07:22:24.8230

2025-08-21T07:22:26.166Z,1755760946.166 [DAT](INFO): Rx dataTimestamp_ set to:1755760946.165059
2025-08-21T07:22:26.674Z,1755760946.674 [DAT](INFO): DAT read: 07:22:24.8230 LVL= 28560, 16545, 23954, 29459, AGC= 45, IDX= 439, 0.02,-0.351,-0.438,-1.598, 0.666, PHS=-0.915,-1.060,-2.309, RAW=  35.4,  48.8, CAL=  33.6,  53.4, ROT= 116.4, -53.4

2025-08-21T07:22:26.685Z,1755760946.685 [DAT](INFO): got valid direction response:
 07:22:24.8230 LVL= 28560, 16545, 23954, 29459, AGC= 45, IDX= 439, 0.02,-0.351,-0.438,-1.598, 0.666, PHS=-0.915,-1.060,-2.309, RAW=  35.4,  48.8, CAL=  33.6,  53.4, ROT= 116.4, -53.4

2025-08-21T07:22:26.686Z,1755760946.686 [DAT](INFO): DAT read: Bearing 357.4,  37.9 (Local)

2025-08-21T07:22:26.687Z,1755760946.687 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.4,  37.9 (Local)

2025-08-21T07:22:26.692Z,1755760946.692 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:22:26.693Z,1755760946.693 [DAT](INFO): DAT read: user:2253>

2025-08-21T07:22:26.694Z,1755760946.694 [DAT](INFO): DAT read: Tx time:07:22:25.9163

2025-08-21T07:22:26.694Z,1755760946.694 [DAT](INFO): Ping request sent.
2025-08-21T07:22:26.694Z,1755760946.694 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:26.694Z,1755760946.694 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-21T07:22:26.700Z,1755760946.700 [DAT](INFO): direction in FSK: [-0.265103,0.534046,0.802817]
2025-08-21T07:22:26.700Z,1755760946.700 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:26.700Z,1755760946.700 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:26.707Z,1755760946.707 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:26.708Z,1755760946.708 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:29.692Z,1755760949.692 [DAT](INFO): DAT read: Rx Time:07:22:28.3230

2025-08-21T07:22:29.693Z,1755760949.693 [DAT](INFO): Rx dataTimestamp_ set to:1755760949.692477
2025-08-21T07:22:30.202Z,1755760950.202 [DAT](INFO): DAT read: 07:22:28.3230 LVL= 29120, 17745, 23394, 30787, AGC= 43, IDX= 439, 0.11,-0.883,-0.920,-2.128, 0.143, PHS=-0.924,-1.018,-2.315, RAW=  33.5,  48.2, CAL=  31.7,  52.9, ROT= 118.3, -52.9

2025-08-21T07:22:30.204Z,1755760950.204 [DAT](INFO): got valid direction response:
 07:22:28.3230 LVL= 29120, 17745, 23394, 30787, AGC= 43, IDX= 439, 0.11,-0.883,-0.920,-2.128, 0.143, PHS=-0.924,-1.018,-2.315, RAW=  33.5,  48.2, CAL=  31.7,  52.9, ROT= 118.3, -52.9

2025-08-21T07:22:30.204Z,1755760950.204 [DAT](INFO): DAT read: Bearing 359.6,  38.1 (Local)

2025-08-21T07:22:30.205Z,1755760950.205 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.6,  38.1 (Local)

2025-08-21T07:22:30.206Z,1755760950.206 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:22:30.207Z,1755760950.207 [DAT](INFO): DAT read: user:2254>

2025-08-21T07:22:30.208Z,1755760950.208 [DAT](INFO): DAT read: Tx time:07:22:29.4163

2025-08-21T07:22:30.208Z,1755760950.208 [DAT](INFO): Ping request sent.
2025-08-21T07:22:30.208Z,1755760950.208 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:30.208Z,1755760950.208 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-21T07:22:30.209Z,1755760950.209 [DAT](INFO): direction in FSK: [-0.285974,0.531111,0.797584]
2025-08-21T07:22:30.210Z,1755760950.210 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:30.210Z,1755760950.210 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:30.217Z,1755760950.217 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:30.217Z,1755760950.217 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:31.050Z,1755760951.050 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-21T07:22:31.050Z,1755760951.050 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-21T07:22:31.063Z,1755760951.063 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T07:22:31.456Z,1755760951.456 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:22:31.708Z,1755760951.708 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:22:31.960Z,1755760951.960 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:22:32.968Z,1755760952.968 [DAT](INFO): DAT read: Rx Time:07:22:31.8230

2025-08-21T07:22:32.969Z,1755760952.969 [DAT](INFO): Rx dataTimestamp_ set to:1755760952.968481
2025-08-21T07:22:33.730Z,1755760953.730 [DAT](INFO): DAT read: 07:22:31.8230 LVL= 27824, 16097, 23394, 32755, AGC= 45, IDX= 439, 0.25,-2.890,-2.875, 2.390,-1.828, PHS=-0.960,-1.002,-2.109, RAW=  31.8,  51.9, CAL=  30.3,  56.1, ROT= 119.7, -56.1

2025-08-21T07:22:33.731Z,1755760953.731 [DAT](INFO): got valid direction response:
 07:22:31.8230 LVL= 27824, 16097, 23394, 32755, AGC= 45, IDX= 439, 0.25,-2.890,-2.875, 2.390,-1.828, PHS=-0.960,-1.002,-2.109, RAW=  31.8,  51.9, CAL=  30.3,  56.1, ROT= 119.7, -56.1

2025-08-21T07:22:33.732Z,1755760953.732 [DAT](INFO): DAT read: Bearing   0.5,  31.9 (Local)

2025-08-21T07:22:33.732Z,1755760953.732 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.5,  31.9 (Local)

2025-08-21T07:22:33.734Z,1755760953.734 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:22:33.734Z,1755760953.734 [DAT](INFO): DAT read: user:2255>

2025-08-21T07:22:33.735Z,1755760953.735 [DAT](INFO): DAT read: Tx time:07:22:32.9163

2025-08-21T07:22:33.735Z,1755760953.735 [DAT](INFO): Ping request sent.
2025-08-21T07:22:33.736Z,1755760953.736 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:33.736Z,1755760953.736 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-21T07:22:33.737Z,1755760953.737 [DAT](INFO): direction in FSK: [-0.276340,0.484475,0.830012]
2025-08-21T07:22:33.737Z,1755760953.737 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:33.737Z,1755760953.737 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:33.741Z,1755760953.741 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:33.741Z,1755760953.741 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:36.500Z,1755760956.500 [DAT](INFO): DAT read: Rx Time:07:22:35.3229

2025-08-21T07:22:36.501Z,1755760956.501 [DAT](INFO): Rx dataTimestamp_ set to:1755760956.500475
2025-08-21T07:22:37.262Z,1755760957.262 [DAT](INFO): DAT read: 07:22:35.3229 LVL= 21088, 13633, 20690, 31203, AGC= 44, IDX= 438, 0.37, 1.657, 1.784, 0.846, 2.780, PHS=-1.021,-0.951,-1.978, RAW=  26.5,  54.6, CAL=  25.2,  58.5, ROT= 124.8, -58.5

2025-08-21T07:22:37.263Z,1755760957.263 [DAT](INFO): got valid direction response:
 07:22:35.3229 LVL= 21088, 13633, 20690, 31203, AGC= 44, IDX= 438, 0.37, 1.657, 1.784, 0.846, 2.780, PHS=-1.021,-0.951,-1.978, RAW=  26.5,  54.6, CAL=  25.2,  58.5, ROT= 124.8, -58.5

2025-08-21T07:22:37.264Z,1755760957.264 [DAT](INFO): DAT read: Bearing   2.5,  27.0 (Local)

2025-08-21T07:22:37.264Z,1755760957.264 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.5,  27.0 (Local)

2025-08-21T07:22:37.266Z,1755760957.266 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T07:22:37.266Z,1755760957.266 [DAT](INFO): DAT read: user:2256>

2025-08-21T07:22:37.267Z,1755760957.267 [DAT](INFO): DAT read: Tx time:07:22:36.4163

2025-08-21T07:22:37.267Z,1755760957.267 [DAT](INFO): Ping request sent.
2025-08-21T07:22:37.268Z,1755760957.268 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:37.268Z,1755760957.268 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-21T07:22:37.269Z,1755760957.269 [DAT](INFO): direction in FSK: [-0.298197,0.429049,0.852640]
2025-08-21T07:22:37.269Z,1755760957.269 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:37.269Z,1755760957.269 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:37.273Z,1755760957.273 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:37.273Z,1755760957.273 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:40.033Z,1755760960.033 [DAT](INFO): DAT read: Rx Time:07:22:38.8228

2025-08-21T07:22:40.033Z,1755760960.033 [DAT](INFO): Rx dataTimestamp_ set to:1755760960.032708
2025-08-21T07:22:40.549Z,1755760960.549 [DAT](INFO): DAT read: 07:22:38.8228 LVL= 23120, 14961, 21554, 32755, AGC= 45, IDX= 439,-0.46,-1.021,-0.913,-1.835, 0.066, PHS=-0.985,-0.935,-1.945, RAW=  27.5,  54.2, CAL=  26.1,  58.1, ROT= 123.9, -58.1

2025-08-21T07:22:40.550Z,1755760960.550 [DAT](INFO): got valid direction response:
 07:22:38.8228 LVL= 23120, 14961, 21554, 32755, AGC= 45, IDX= 439,-0.46,-1.021,-0.913,-1.835, 0.066, PHS=-0.985,-0.935,-1.945, RAW=  27.5,  54.2, CAL=  26.1,  58.1, ROT= 123.9, -58.1

2025-08-21T07:22:40.551Z,1755760960.551 [DAT](INFO): DAT read: Bearing   1.6,  27.5 (Local)

2025-08-21T07:22:40.551Z,1755760960.551 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.6,  27.5 (Local)

2025-08-21T07:22:40.553Z,1755760960.553 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T07:22:40.553Z,1755760960.553 [DAT](INFO): DAT read: user:2257>

2025-08-21T07:22:40.554Z,1755760960.554 [DAT](INFO): DAT read: Tx time:07:22:39.9162

2025-08-21T07:22:40.554Z,1755760960.554 [DAT](INFO): Ping request sent.
2025-08-21T07:22:40.554Z,1755760960.554 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:40.555Z,1755760960.555 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-21T07:22:40.556Z,1755760960.556 [DAT](INFO): direction in FSK: [-0.294734,0.438610,0.848972]
2025-08-21T07:22:40.556Z,1755760960.556 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:40.556Z,1755760960.556 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:40.562Z,1755760960.562 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:40.562Z,1755760960.562 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:43.563Z,1755760963.563 [DAT](INFO): DAT read: Rx Time:07:22:42.3228

2025-08-21T07:22:43.565Z,1755760963.565 [DAT](INFO): Rx dataTimestamp_ set to:1755760963.563745
2025-08-21T07:22:44.074Z,1755760964.074 [DAT](INFO): DAT read: 07:22:42.3228 LVL= 26864, 14945, 24930, 32755, AGC= 45, IDX= 439,-0.27,-2.942,-2.803, 2.509,-1.889, PHS=-0.951,-0.869,-1.929, RAW=  26.0,  52.4, CAL=  24.7,  56.5, ROT= 125.3, -56.5

2025-08-21T07:22:44.078Z,1755760964.078 [DAT](INFO): got valid direction response:
 07:22:42.3228 LVL= 26864, 14945, 24930, 32755, AGC= 45, IDX= 439,-0.27,-2.942,-2.803, 2.509,-1.889, PHS=-0.951,-0.869,-1.929, RAW=  26.0,  52.4, CAL=  24.7,  56.5, ROT= 125.3, -56.5

2025-08-21T07:22:44.079Z,1755760964.079 [DAT](INFO): DAT read: Bearing   3.5,  28.3 (Local)

2025-08-21T07:22:44.080Z,1755760964.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.5,  28.3 (Local)

2025-08-21T07:22:44.082Z,1755760964.082 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T07:22:44.083Z,1755760964.083 [DAT](INFO): DAT read: user:2258>

2025-08-21T07:22:44.088Z,1755760964.088 [DAT](INFO): DAT read: Tx time:07:22:43.4162

2025-08-21T07:22:44.089Z,1755760964.089 [DAT](INFO): Ping request sent.
2025-08-21T07:22:44.089Z,1755760964.089 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:44.089Z,1755760964.089 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-21T07:22:44.091Z,1755760964.091 [DAT](INFO): direction in FSK: [-0.318941,0.450457,0.833886]
2025-08-21T07:22:44.096Z,1755760964.096 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:44.096Z,1755760964.096 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:44.119Z,1755760964.119 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:44.120Z,1755760964.120 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:47.100Z,1755760967.100 [DAT](INFO): DAT read: Rx Time:07:22:45.8228

2025-08-21T07:22:47.101Z,1755760967.101 [DAT](INFO): Rx dataTimestamp_ set to:1755760967.100461
2025-08-21T07:22:47.631Z,1755760967.631 [DAT](INFO): DAT read: 07:22:45.8228 LVL= 25904, 15089, 24242, 32755, AGC= 45, IDX= 439,-0.09, 2.110, 2.253, 1.266,-3.103, PHS=-0.968,-0.882,-1.957, RAW=  25.9,  52.4, CAL=  24.5,  56.6, ROT= 125.5, -56.6

2025-08-21T07:22:47.632Z,1755760967.632 [DAT](INFO): got valid direction response:
 07:22:45.8228 LVL= 25904, 15089, 24242, 32755, AGC= 45, IDX= 439,-0.09, 2.110, 2.253, 1.266,-3.103, PHS=-0.968,-0.882,-1.957, RAW=  25.9,  52.4, CAL=  24.5,  56.6, ROT= 125.5, -56.6

2025-08-21T07:22:47.633Z,1755760967.633 [DAT](INFO): DAT read: Bearing   4.9,  28.3 (Local)

2025-08-21T07:22:47.634Z,1755760967.634 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.9,  28.3 (Local)

2025-08-21T07:22:47.635Z,1755760967.635 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m  (Round-trip  2.5 ms) speed  0.0 m/s

2025-08-21T07:22:47.636Z,1755760967.636 [DAT](INFO): DAT read: user:2259>

2025-08-21T07:22:47.637Z,1755760967.637 [DAT](INFO): DAT read: Tx time:07:22:46.9162

2025-08-21T07:22:47.637Z,1755760967.637 [DAT](INFO): Ping request sent.
2025-08-21T07:22:47.637Z,1755760967.637 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:47.637Z,1755760967.637 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-21T07:22:47.638Z,1755760967.638 [DAT](INFO): direction in FSK: [-0.319666,0.448155,0.834848]
2025-08-21T07:22:47.638Z,1755760967.638 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:47.639Z,1755760967.639 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:47.643Z,1755760967.643 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:47.643Z,1755760967.643 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:50.631Z,1755760970.631 [DAT](INFO): DAT read: Rx Time:07:22:49.3228

2025-08-21T07:22:50.633Z,1755760970.633 [DAT](INFO): Rx dataTimestamp_ set to:1755760970.631799
2025-08-21T07:22:51.138Z,1755760971.138 [DAT](INFO): DAT read: 07:22:49.3228 LVL= 22624, 15089, 22562, 32755, AGC= 45, IDX= 439, 0.03, 2.253, 2.393, 1.412,-2.934, PHS=-0.994,-0.911,-1.981, RAW=  26.0,  53.1, CAL=  24.7,  57.2, ROT= 125.3, -57.2

2025-08-21T07:22:51.139Z,1755760971.139 [DAT](INFO): got valid direction response:
 07:22:49.3228 LVL= 22624, 15089, 22562, 32755, AGC= 45, IDX= 439, 0.03, 2.253, 2.393, 1.412,-2.934, PHS=-0.994,-0.911,-1.981, RAW=  26.0,  53.1, CAL=  24.7,  57.2, ROT= 125.3, -57.2

2025-08-21T07:22:51.140Z,1755760971.140 [DAT](INFO): DAT read: Bearing   5.5,  28.0 (Local)

2025-08-21T07:22:51.140Z,1755760971.140 [DAT](INFO): Local bearing/azimuth received:
 Bearing   5.5,  28.0 (Local)

2025-08-21T07:22:51.142Z,1755760971.142 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:22:51.143Z,1755760971.143 [DAT](INFO): DAT read: user:2260>

2025-08-21T07:22:51.144Z,1755760971.144 [DAT](INFO): DAT read: Tx time:07:22:50.4151

2025-08-21T07:22:51.145Z,1755760971.145 [DAT](INFO): Ping request sent.
2025-08-21T07:22:51.145Z,1755760971.145 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:51.145Z,1755760971.145 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-21T07:22:51.147Z,1755760971.147 [DAT](INFO): direction in FSK: [-0.313030,0.442108,0.840567]
2025-08-21T07:22:51.147Z,1755760971.147 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:51.148Z,1755760971.148 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:51.152Z,1755760971.152 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:51.153Z,1755760971.153 [DAT](INFO): publishing direction and range info
2025-08-21T07:22:53.658Z,1755760973.658 [DAT](INFO): DAT read: Rx Time:07:22:52.3082

2025-08-21T07:22:53.660Z,1755760973.660 [DAT](INFO): Rx dataTimestamp_ set to:1755760973.658372
2025-08-21T07:22:54.163Z,1755760974.163 [DAT](INFO): DAT read: 07:22:52.3082 LVL= 22224, 13489, 24754, 32035, AGC= 45, IDX= 305, 0.02, 0.494, 0.621,-0.305, 1.610, PHS=-1.015,-0.945,-1.960, RAW=  26.5,  54.7, CAL=  25.2,  58.6, ROT= 124.8, -58.6

2025-08-21T07:22:54.164Z,1755760974.164 [DAT](INFO): got valid direction response:
 07:22:52.3082 LVL= 22224, 13489, 24754, 32035, AGC= 45, IDX= 305, 0.02, 0.494, 0.621,-0.305, 1.610, PHS=-1.015,-0.945,-1.960, RAW=  26.5,  54.7, CAL=  25.2,  58.6, ROT= 124.8, -58.6

2025-08-21T07:22:54.165Z,1755760974.165 [DAT](INFO): DAT read: OK

2025-08-21T07:22:54.165Z,1755760974.165 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:22:54.166Z,1755760974.166 [DAT](INFO): DAT read: user:2261>

2025-08-21T07:22:54.167Z,1755760974.167 [DAT](INFO): DAT read: Tx time:07:22:53.4151

2025-08-21T07:22:54.168Z,1755760974.168 [DAT](INFO): Ping request sent.
2025-08-21T07:22:54.168Z,1755760974.168 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:54.168Z,1755760974.168 [DAT](INFO): #Rx 16: Read direction message, but no range.
2025-08-21T07:22:54.170Z,1755760974.170 [DAT](INFO): direction in FSK: [-0.297347,0.427827,0.853551]
2025-08-21T07:22:54.170Z,1755760974.170 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:54.174Z,1755760974.174 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:56.424Z,1755760976.424 [DAT](INFO): DAT read: Rx Time:07:22:55.3083

2025-08-21T07:22:56.425Z,1755760976.425 [DAT](INFO): Rx dataTimestamp_ set to:1755760976.424556
2025-08-21T07:22:57.184Z,1755760977.184 [DAT](INFO): DAT read: 07:22:55.3083 LVL= 22320, 15121, 21922, 32755, AGC= 45, IDX= 450, 0.05, 0.794, 0.911,-0.042, 1.895, PHS=-0.999,-0.939,-1.981, RAW=  27.1,  53.8, CAL=  25.7,  57.8, ROT= 124.3, -57.8

2025-08-21T07:22:57.186Z,1755760977.186 [DAT](INFO): got valid direction response:
 07:22:55.3083 LVL= 22320, 15121, 21922, 32755, AGC= 45, IDX= 450, 0.05, 0.794, 0.911,-0.042, 1.895, PHS=-0.999,-0.939,-1.981, RAW=  27.1,  53.8, CAL=  25.7,  57.8, ROT= 124.3, -57.8

2025-08-21T07:22:57.186Z,1755760977.186 [DAT](INFO): DAT read: OK

2025-08-21T07:22:57.186Z,1755760977.186 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:22:57.187Z,1755760977.187 [DAT](INFO): DAT read: user:2262>

2025-08-21T07:22:57.188Z,1755760977.188 [DAT](INFO): DAT read: Tx time:07:22:56.4153

2025-08-21T07:22:57.188Z,1755760977.188 [DAT](INFO): Ping request sent.
2025-08-21T07:22:57.188Z,1755760977.188 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:22:57.188Z,1755760977.188 [DAT](INFO): #Rx 17: Read direction message, but no range.
2025-08-21T07:22:57.189Z,1755760977.189 [DAT](INFO): direction in FSK: [-0.300290,0.440208,0.846193]
2025-08-21T07:22:57.189Z,1755760977.189 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:57.192Z,1755760977.192 [DAT](INFO): publishing transmit ping time
2025-08-21T07:22:59.448Z,1755760979.448 [DAT](INFO): DAT read: Rx Time:07:22:58.3083

2025-08-21T07:22:59.449Z,1755760979.449 [DAT](INFO): Rx dataTimestamp_ set to:1755760979.448397
2025-08-21T07:23:00.216Z,1755760980.216 [DAT](INFO): DAT read: 07:22:58.3083 LVL= 24784, 14657, 23954, 32755, AGC= 45, IDX= 435, 0.06, 0.907, 1.025, 0.068, 2.014, PHS=-1.004,-0.944,-1.989, RAW=  27.0,  53.9, CAL=  25.7,  57.9, ROT= 124.3, -57.9

2025-08-21T07:23:00.217Z,1755760980.217 [DAT](INFO): got valid direction response:
 07:22:58.3083 LVL= 24784, 14657, 23954, 32755, AGC= 45, IDX= 435, 0.06, 0.907, 1.025, 0.068, 2.014, PHS=-1.004,-0.944,-1.989, RAW=  27.0,  53.9, CAL=  25.7,  57.9, ROT= 124.3, -57.9

2025-08-21T07:23:00.217Z,1755760980.217 [DAT](INFO): DAT read: OK

2025-08-21T07:23:00.217Z,1755760980.217 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:23:00.218Z,1755760980.218 [DAT](INFO): DAT read: user:2263>

2025-08-21T07:23:00.218Z,1755760980.218 [DAT](INFO): DAT read: Tx time:07:22:59.4151

2025-08-21T07:23:00.219Z,1755760980.219 [DAT](INFO): Ping request sent.
2025-08-21T07:23:00.219Z,1755760980.219 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:23:00.223Z,1755760980.223 [DAT](INFO): #Rx 18: Read direction message, but no range.
2025-08-21T07:23:00.224Z,1755760980.224 [DAT](INFO): direction in FSK: [-0.299457,0.438987,0.847122]
2025-08-21T07:23:00.225Z,1755760980.225 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:00.228Z,1755760980.228 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:02.480Z,1755760982.480 [DAT](INFO): DAT read: Rx Time:07:23:01.3084

2025-08-21T07:23:02.481Z,1755760982.481 [DAT](INFO): Rx dataTimestamp_ set to:1755760982.480430
2025-08-21T07:23:03.240Z,1755760983.240 [DAT](INFO): DAT read: 07:23:01.3084 LVL= 25184, 14657, 23122, 32755, AGC= 45, IDX= 436, 0.09, 0.461, 0.598,-0.401, 1.555, PHS=-0.993,-0.912,-2.000, RAW=  26.2,  52.8, CAL=  24.8,  56.9, ROT= 125.2, -56.9

2025-08-21T07:23:03.241Z,1755760983.241 [DAT](INFO): got valid direction response:
 07:23:01.3084 LVL= 25184, 14657, 23122, 32755, AGC= 45, IDX= 436, 0.09, 0.461, 0.598,-0.401, 1.555, PHS=-0.993,-0.912,-2.000, RAW=  26.2,  52.8, CAL=  24.8,  56.9, ROT= 125.2, -56.9

2025-08-21T07:23:03.242Z,1755760983.242 [DAT](INFO): DAT read: OK

2025-08-21T07:23:03.242Z,1755760983.242 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:23:03.243Z,1755760983.243 [DAT](INFO): DAT read: user:2264>

2025-08-21T07:23:03.243Z,1755760983.243 [DAT](INFO): DAT read: Tx time:07:23:02.4151

2025-08-21T07:23:03.244Z,1755760983.244 [DAT](INFO): Ping request sent.
2025-08-21T07:23:03.244Z,1755760983.244 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:23:03.244Z,1755760983.244 [DAT](INFO): #Rx 19: Read direction message, but no range.
2025-08-21T07:23:03.245Z,1755760983.245 [DAT](INFO): direction in FSK: [-0.314791,0.446244,0.837719]
2025-08-21T07:23:03.245Z,1755760983.245 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:03.248Z,1755760983.248 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:05.510Z,1755760985.510 [DAT](INFO): DAT read: Rx Time:07:23:04.3084

2025-08-21T07:23:05.511Z,1755760985.511 [DAT](INFO): Rx dataTimestamp_ set to:1755760985.510579
2025-08-21T07:23:06.018Z,1755760986.018 [DAT](INFO): DAT read: 07:23:04.3084 LVL= 23520, 13569, 20274, 32755, AGC= 44, IDX= 437, 0.10, 0.548, 0.669,-0.320, 1.630, PHS=-0.980,-0.916,-1.994, RAW=  27.0,  52.7, CAL=  25.6,  56.8, ROT= 124.4, -56.8

2025-08-21T07:23:06.020Z,1755760986.020 [DAT](INFO): got valid direction response:
 07:23:04.3084 LVL= 23520, 13569, 20274, 32755, AGC= 44, IDX= 437, 0.10, 0.548, 0.669,-0.320, 1.630, PHS=-0.980,-0.916,-1.994, RAW=  27.0,  52.7, CAL=  25.6,  56.8, ROT= 124.4, -56.8

2025-08-21T07:23:06.021Z,1755760986.021 [DAT](INFO): DAT read: OK

2025-08-21T07:23:06.022Z,1755760986.022 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:23:06.024Z,1755760986.024 [DAT](INFO): DAT read: user:2265>

2025-08-21T07:23:06.025Z,1755760986.025 [DAT](INFO): DAT read: Tx time:07:23:05.4150

2025-08-21T07:23:06.025Z,1755760986.025 [DAT](INFO): Ping request sent.
2025-08-21T07:23:06.025Z,1755760986.025 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:23:06.026Z,1755760986.026 [DAT](INFO): #Rx 20: Read direction message, but no range.
2025-08-21T07:23:06.027Z,1755760986.027 [DAT](INFO): direction in FSK: [-0.309355,0.451802,0.836764]
2025-08-21T07:23:06.027Z,1755760986.027 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:06.030Z,1755760986.030 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:08.532Z,1755760988.532 [DAT](INFO): DAT read: Rx Time:07:23:07.3085

2025-08-21T07:23:08.533Z,1755760988.533 [DAT](INFO): Rx dataTimestamp_ set to:1755760988.532420
2025-08-21T07:23:09.041Z,1755760989.041 [DAT](INFO): DAT read: 07:23:07.3085 LVL= 24640, 15489, 23858, 32755, AGC= 45, IDX= 438, 0.06, 0.872, 1.005, 0.019, 1.972, PHS=-0.997,-0.922,-1.996, RAW=  26.4,  53.1, CAL=  25.0,  57.2, ROT= 125.0, -57.2

2025-08-21T07:23:09.042Z,1755760989.042 [DAT](INFO): got valid direction response:
 07:23:07.3085 LVL= 24640, 15489, 23858, 32755, AGC= 45, IDX= 438, 0.06, 0.872, 1.005, 0.019, 1.972, PHS=-0.997,-0.922,-1.996, RAW=  26.4,  53.1, CAL=  25.0,  57.2, ROT= 125.0, -57.2

2025-08-21T07:23:09.042Z,1755760989.042 [DAT](INFO): DAT read: OK

2025-08-21T07:23:09.042Z,1755760989.042 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:23:09.043Z,1755760989.043 [DAT](INFO): DAT read: user:2266>

2025-08-21T07:23:09.044Z,1755760989.044 [DAT](INFO): DAT read: Tx time:07:23:08.4160

2025-08-21T07:23:09.044Z,1755760989.044 [DAT](INFO): Ping request sent.
2025-08-21T07:23:09.044Z,1755760989.044 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:23:09.044Z,1755760989.044 [DAT](INFO): #Rx 21: Read direction message, but no range.
2025-08-21T07:23:09.045Z,1755760989.045 [DAT](INFO): direction in FSK: [-0.310711,0.443741,0.840567]
2025-08-21T07:23:09.046Z,1755760989.046 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:09.049Z,1755760989.049 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:10.206Z,1755760990.206 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,     ,+0.00,        +0.00,  20.00,353.22
2025-08-21T07:23:12.060Z,1755760992.060 [DAT](INFO): DAT read: Rx Time:07:23:10.8227

2025-08-21T07:23:12.061Z,1755760992.061 [DAT](INFO): Rx dataTimestamp_ set to:1755760992.060580
2025-08-21T07:23:12.578Z,1755760992.578 [DAT](INFO): DAT read: 07:23:10.8227 LVL= 19248, 14209, 20386, 32755, AGC= 47, IDX=  55, 0.15, 0.798, 0.897,-0.049, 1.904, PHS=-1.004,-0.962,-1.997, RAW=  27.9,  54.1, CAL=  26.6,  58.1, ROT= 123.4, -58.1

2025-08-21T07:23:12.579Z,1755760992.579 [DAT](INFO): got valid direction response:
 07:23:10.8227 LVL= 19248, 14209, 20386, 32755, AGC= 47, IDX=  55, 0.15, 0.798, 0.897,-0.049, 1.904, PHS=-1.004,-0.962,-1.997, RAW=  27.9,  54.1, CAL=  26.6,  58.1, ROT= 123.4, -58.1

2025-08-21T07:23:12.580Z,1755760992.580 [DAT](INFO): DAT read: Bearing   2.9,  27.5 (Local)

2025-08-21T07:23:12.581Z,1755760992.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  27.5 (Local)

2025-08-21T07:23:12.582Z,1755760992.582 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:23:12.583Z,1755760992.583 [DAT](INFO): DAT read: user:2267>

2025-08-21T07:23:12.584Z,1755760992.584 [DAT](INFO): DAT read: Tx time:07:23:11.9150

2025-08-21T07:23:12.584Z,1755760992.584 [DAT](INFO): Ping request sent.
2025-08-21T07:23:12.584Z,1755760992.584 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:23:12.584Z,1755760992.584 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-21T07:23:12.585Z,1755760992.585 [DAT](INFO): direction in FSK: [-0.290895,0.441166,0.848972]
2025-08-21T07:23:12.585Z,1755760992.585 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:12.586Z,1755760992.586 [DAT](INFO): publishing direction and range info
2025-08-21T07:23:12.641Z,1755760992.641 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:12.641Z,1755760992.641 [DAT](INFO): publishing direction and range info
2025-08-21T07:23:15.092Z,1755760995.092 [DAT](INFO): DAT read: Rx Time:07:23:13.8087

2025-08-21T07:23:15.093Z,1755760995.093 [DAT](INFO): Rx dataTimestamp_ set to:1755760995.092590
2025-08-21T07:23:15.600Z,1755760995.600 [DAT](INFO): DAT read: 07:23:13.8087 LVL= 24880, 14657, 24242, 32755, AGC= 46, IDX= 312, 0.15, 0.688, 0.801,-0.175, 1.784, PHS=-0.994,-0.938,-2.002, RAW=  27.3,  53.3, CAL=  25.9,  57.4, ROT= 124.1, -57.4

2025-08-21T07:23:15.602Z,1755760995.602 [DAT](INFO): got valid direction response:
 07:23:13.8087 LVL= 24880, 14657, 24242, 32755, AGC= 46, IDX= 312, 0.15, 0.688, 0.801,-0.175, 1.784, PHS=-0.994,-0.938,-2.002, RAW=  27.3,  53.3, CAL=  25.9,  57.4, ROT= 124.1, -57.4

2025-08-21T07:23:15.602Z,1755760995.602 [DAT](INFO): DAT read: OK

2025-08-21T07:23:15.602Z,1755760995.602 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:23:15.603Z,1755760995.603 [DAT](INFO): DAT read: user:2268>

2025-08-21T07:23:15.603Z,1755760995.603 [DAT](INFO): DAT read: Tx time:07:23:14.9150

2025-08-21T07:23:15.604Z,1755760995.604 [DAT](INFO): Ping request sent.
2025-08-21T07:23:15.604Z,1755760995.604 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:23:15.604Z,1755760995.604 [DAT](INFO): #Rx 23: Read direction message, but no range.
2025-08-21T07:23:15.605Z,1755760995.605 [DAT](INFO): direction in FSK: [-0.302056,0.446135,0.842452]
2025-08-21T07:23:15.605Z,1755760995.605 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:15.608Z,1755760995.608 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:18.116Z,1755760998.116 [DAT](INFO): DAT read: Rx Time:07:23:16.8088

2025-08-21T07:23:18.117Z,1755760998.117 [DAT](INFO): Rx dataTimestamp_ set to:1755760998.116463
2025-08-21T07:23:18.624Z,1755760998.624 [DAT](INFO): DAT read: 07:23:16.8088 LVL= 25152, 14817, 23538, 32755, AGC= 45, IDX= 441, 0.13, 0.202, 0.341,-0.675, 1.290, PHS=-0.986,-0.904,-2.009, RAW=  26.2,  52.3, CAL=  24.8,  56.4, ROT= 125.2, -56.4

2025-08-21T07:23:18.626Z,1755760998.626 [DAT](INFO): got valid direction response:
 07:23:16.8088 LVL= 25152, 14817, 23538, 32755, AGC= 45, IDX= 441, 0.13, 0.202, 0.341,-0.675, 1.290, PHS=-0.986,-0.904,-2.009, RAW=  26.2,  52.3, CAL=  24.8,  56.4, ROT= 125.2, -56.4

2025-08-21T07:23:18.626Z,1755760998.626 [DAT](INFO): DAT read: OK

2025-08-21T07:23:18.626Z,1755760998.626 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:23:18.627Z,1755760998.627 [DAT](INFO): DAT read: user:2269>

2025-08-21T07:23:18.627Z,1755760998.627 [DAT](INFO): DAT read: Tx time:07:23:17.9150

2025-08-21T07:23:18.628Z,1755760998.628 [DAT](INFO): Ping request sent.
2025-08-21T07:23:18.628Z,1755760998.628 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:23:18.628Z,1755760998.628 [DAT](INFO): #Rx 24: Read direction message, but no range.
2025-08-21T07:23:18.629Z,1755760998.629 [DAT](INFO): direction in FSK: [-0.318993,0.452201,0.832921]
2025-08-21T07:23:18.629Z,1755760998.629 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:18.632Z,1755760998.632 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:21.145Z,1755761001.145 [DAT](INFO): DAT read: Rx Time:07:23:19.8089

2025-08-21T07:23:21.145Z,1755761001.145 [DAT](INFO): Rx dataTimestamp_ set to:1755761001.145167
2025-08-21T07:23:21.652Z,1755761001.652 [DAT](INFO): DAT read: 07:23:19.8088 LVL= 24192, 14897, 22946, 32755, AGC= 45, IDX= 442, 0.13, 0.215, 0.347,-0.664, 1.301, PHS=-0.984,-0.908,-2.008, RAW=  26.5,  52.3, CAL=  25.1,  56.5, ROT= 124.9, -56.5

2025-08-21T07:23:21.653Z,1755761001.653 [DAT](INFO): got valid direction response:
 07:23:19.8088 LVL= 24192, 14897, 22946, 32755, AGC= 45, IDX= 442, 0.13, 0.215, 0.347,-0.664, 1.301, PHS=-0.984,-0.908,-2.008, RAW=  26.5,  52.3, CAL=  25.1,  56.5, ROT= 124.9, -56.5

2025-08-21T07:23:21.654Z,1755761001.654 [DAT](INFO): DAT read: OK

2025-08-21T07:23:21.654Z,1755761001.654 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:23:21.654Z,1755761001.654 [DAT](INFO): #Rx 25: Read direction message, but no range.
2025-08-21T07:23:21.655Z,1755761001.655 [DAT](INFO): direction in FSK: [-0.315788,0.452672,0.833886]
2025-08-21T07:23:31.244Z,1755761011.244 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-21T07:23:31.245Z,1755761011.245 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-21T07:23:31.309Z,1755761011.309 [DockingStepper](INFO): Changing to mode: 4
2025-08-21T07:23:31.740Z,1755761011.740 [DAT](INFO): DAT read: user:2270>

2025-08-21T07:23:31.741Z,1755761011.741 [DAT](INFO): DAT read: Tx time:07:23:30.9649

2025-08-21T07:23:31.741Z,1755761011.741 [DAT](INFO): Ping request sent.
2025-08-21T07:23:31.741Z,1755761011.741 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:23:31.742Z,1755761011.742 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:34.008Z,1755761014.008 [DAT](INFO): DAT read: Rx Time:07:23:32.8593

2025-08-21T07:23:34.009Z,1755761014.009 [DAT](INFO): Rx dataTimestamp_ set to:1755761014.008492
2025-08-21T07:23:34.768Z,1755761014.768 [DAT](INFO): DAT read: 07:23:32.8593 LVL= 26736, 15697, 27602, 29299, AGC= 44, IDX= 447,-0.08,-0.993,-1.064,-2.234,-0.068, PHS=-0.823,-0.951,-2.210, RAW=  34.8,  46.7, CAL=  32.9,  51.6, ROT= 117.1, -51.6

2025-08-21T07:23:34.770Z,1755761014.770 [DAT](INFO): got valid direction response:
 07:23:32.8593 LVL= 26736, 15697, 27602, 29299, AGC= 44, IDX= 447,-0.08,-0.993,-1.064,-2.234,-0.068, PHS=-0.823,-0.951,-2.210, RAW=  34.8,  46.7, CAL=  32.9,  51.6, ROT= 117.1, -51.6

2025-08-21T07:23:34.770Z,1755761014.770 [DAT](INFO): DAT read: OK

2025-08-21T07:23:34.770Z,1755761014.770 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:23:34.771Z,1755761014.771 [DAT](INFO): DAT read: user:2271>

2025-08-21T07:23:34.772Z,1755761014.772 [DAT](INFO): DAT read: Tx time:07:23:33.9649

2025-08-21T07:23:34.772Z,1755761014.772 [DAT](INFO): Ping request sent.
2025-08-21T07:23:34.772Z,1755761014.772 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:23:34.772Z,1755761014.772 [DAT](INFO): #Rx 26: Read direction message, but no range.
2025-08-21T07:23:34.773Z,1755761014.773 [DAT](INFO): direction in FSK: [-0.282961,0.552954,0.783693]
2025-08-21T07:23:34.773Z,1755761014.773 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:34.776Z,1755761014.776 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:37.032Z,1755761017.032 [DAT](INFO): DAT read: Rx Time:07:23:35.8594

2025-08-21T07:23:37.033Z,1755761017.033 [DAT](INFO): Rx dataTimestamp_ set to:1755761017.032644
2025-08-21T07:23:37.793Z,1755761017.793 [DAT](INFO): DAT read: 07:23:35.8593 LVL= 25072, 15089, 24482, 32755, AGC= 43, IDX= 448,-0.15,-0.934,-0.994,-2.106, 0.036, PHS=-0.868,-0.985,-2.186, RAW=  34.6,  48.5, CAL=  32.9,  53.2, ROT= 117.1, -53.2

2025-08-21T07:23:37.794Z,1755761017.794 [DAT](INFO): got valid direction response:
 07:23:35.8593 LVL= 25072, 15089, 24482, 32755, AGC= 43, IDX= 448,-0.15,-0.934,-0.994,-2.106, 0.036, PHS=-0.868,-0.985,-2.186, RAW=  34.6,  48.5, CAL=  32.9,  53.2, ROT= 117.1, -53.2

2025-08-21T07:23:37.795Z,1755761017.795 [DAT](INFO): DAT read: OK

2025-08-21T07:23:37.795Z,1755761017.795 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:23:37.795Z,1755761017.795 [DAT](INFO): DAT read: user:2272>

2025-08-21T07:23:37.796Z,1755761017.796 [DAT](INFO): DAT read: Tx time:07:23:36.9648

2025-08-21T07:23:37.796Z,1755761017.796 [DAT](INFO): Ping request sent.
2025-08-21T07:23:37.796Z,1755761017.796 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:23:37.797Z,1755761017.797 [DAT](INFO): #Rx 27: Read direction message, but no range.
2025-08-21T07:23:37.798Z,1755761017.798 [DAT](INFO): direction in FSK: [-0.272882,0.533258,0.800731]
2025-08-21T07:23:37.798Z,1755761017.798 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:37.801Z,1755761017.801 [DAT](INFO): publishing transmit ping time
2025-08-21T07:23:40.069Z,1755761020.069 [DAT](INFO): DAT read: Rx Time:07:23:38.8594

2025-08-21T07:23:40.069Z,1755761020.069 [DAT](INFO): Rx dataTimestamp_ set to:1755761020.069118
2025-08-21T07:23:40.576Z,1755761020.576 [DAT](INFO): DAT read: 07:23:38.8594 LVL= 23280, 15905, 23698, 31075, AGC= 44, IDX= 449,-0.16,-1.099,-1.177,-2.354,-0.150, PHS=-0.847,-0.982,-2.248, RAW=  35.0,  47.1, CAL=  33.2,  52.0, ROT= 116.8, -52.0

2025-08-21T07:23:40.577Z,1755761020.577 [DAT](INFO): got valid direction response:
 07:23:38.8594 LVL= 23280, 15905, 23698, 31075, AGC= 44, IDX= 449,-0.16,-1.099,-1.177,-2.354,-0.150, PHS=-0.847,-0.982,-2.248, RAW=  35.0,  47.1, CAL=  33.2,  52.0, ROT= 116.8, -52.0

2025-08-21T07:23:40.577Z,1755761020.577 [DAT](INFO): DAT read: OK

2025-08-21T07:23:40.578Z,1755761020.578 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:23:40.578Z,1755761020.578 [DAT](INFO): #Rx 28: Read direction message, but no range.
2025-08-21T07:23:40.579Z,1755761020.579 [DAT](INFO): direction in FSK: [-0.277588,0.549531,0.788011]
2025-08-21T07:23:59.926Z,1755761039.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:23:59.988Z,1755761039.988 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:23:59.988Z,1755761039.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:24:00.240Z,1755761040.240 [DAT](INFO): DAT read: user:2273>

2025-08-21T07:24:00.241Z,1755761040.241 [DAT](INFO): DAT read: Tx time:07:23:59.4657

2025-08-21T07:24:00.241Z,1755761040.241 [DAT](INFO): Ping request sent.
2025-08-21T07:24:00.241Z,1755761040.241 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:24:00.241Z,1755761040.241 [DAT](INFO): publishing transmit ping time
2025-08-21T07:24:00.242Z,1755761040.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-21T07:24:00.492Z,1755761040.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250943
2025-08-21T07:24:00.744Z,1755761040.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502966
2025-08-21T07:24:00.996Z,1755761040.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754869
2025-08-21T07:24:01.248Z,1755761041.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006923
2025-08-21T07:24:01.500Z,1755761041.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258949
2025-08-21T07:24:01.752Z,1755761041.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510923
2025-08-21T07:24:02.004Z,1755761042.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763101
2025-08-21T07:24:02.256Z,1755761042.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014805
2025-08-21T07:24:02.508Z,1755761042.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267185
2025-08-21T07:24:02.765Z,1755761042.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523923
2025-08-21T07:24:03.018Z,1755761043.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776119
2025-08-21T07:24:03.268Z,1755761043.268 [DAT](INFO): DAT read: Rx Time:07:24:01.8724

2025-08-21T07:24:03.269Z,1755761043.269 [DAT](INFO): Rx dataTimestamp_ set to:1755761043.268672
2025-08-21T07:24:03.269Z,1755761043.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028230
2025-08-21T07:24:03.520Z,1755761043.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278968
2025-08-21T07:24:03.778Z,1755761043.778 [DAT](INFO): DAT read: 07:24:01.8724 LVL= 20176, 14385, 21202, 28819, AGC= 47, IDX=  55,-0.13,-2.752,-2.863, 2.298,-1.764, PHS=-0.886,-1.053,-2.265, RAW=  36.4,  48.8, CAL=  34.6,  53.5, ROT= 115.4, -53.5

2025-08-21T07:24:03.779Z,1755761043.779 [DAT](INFO): got valid direction response:
 07:24:01.8724 LVL= 20176, 14385, 21202, 28819, AGC= 47, IDX=  55,-0.13,-2.752,-2.863, 2.298,-1.764, PHS=-0.886,-1.053,-2.265, RAW=  36.4,  48.8, CAL=  34.6,  53.5, ROT= 115.4, -53.5

2025-08-21T07:24:03.780Z,1755761043.780 [DAT](INFO): DAT read: Bearing   1.2,  37.9 (Local)

2025-08-21T07:24:03.780Z,1755761043.780 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  37.9 (Local)

2025-08-21T07:24:03.781Z,1755761043.781 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:24:03.782Z,1755761043.782 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:24:03.783Z,1755761043.783 [DAT](INFO): direction in FSK: [-0.255140,0.537324,0.803857]
2025-08-21T07:24:03.783Z,1755761043.783 [DAT](INFO): publishing direction and range info
2025-08-21T07:25:01.346Z,1755761101.346 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-21T07:25:01.346Z,1755761101.346 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-21T07:25:01.357Z,1755761101.357 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T07:25:01.840Z,1755761101.840 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:25:02.092Z,1755761102.092 [DAT](INFO): DAT read: user:2274>

2025-08-21T07:25:02.093Z,1755761102.093 [DAT](INFO): DAT read: Tx time:07:25:01.3143

2025-08-21T07:25:02.093Z,1755761102.093 [DAT](INFO): Ping request sent.
2025-08-21T07:25:02.093Z,1755761102.093 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:25:02.093Z,1755761102.093 [DAT](INFO): publishing transmit ping time
2025-08-21T07:25:02.094Z,1755761102.094 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:25:02.344Z,1755761102.344 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:25:04.372Z,1755761104.372 [DAT](INFO): DAT read: Rx Time:07:25:03.2118

2025-08-21T07:25:04.373Z,1755761104.373 [DAT](INFO): Rx dataTimestamp_ set to:1755761104.372456
2025-08-21T07:25:05.133Z,1755761105.133 [DAT](INFO): DAT read: 07:25:03.2118 LVL= 25040, 15569, 22162, 32499, AGC= 45, IDX= 351,-0.02,-0.549,-0.453,-1.341, 0.557, PHS=-1.005,-0.965,-1.943, RAW=  28.0,  55.3, CAL=  26.6,  59.1, ROT= 123.4, -59.1

2025-08-21T07:25:05.134Z,1755761105.134 [DAT](INFO): got valid direction response:
 07:25:03.2118 LVL= 25040, 15569, 22162, 32499, AGC= 45, IDX= 351,-0.02,-0.549,-0.453,-1.341, 0.557, PHS=-1.005,-0.965,-1.943, RAW=  28.0,  55.3, CAL=  26.6,  59.1, ROT= 123.4, -59.1

2025-08-21T07:25:05.134Z,1755761105.134 [DAT](INFO): DAT read: OK

2025-08-21T07:25:05.134Z,1755761105.134 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:25:05.135Z,1755761105.135 [DAT](INFO): DAT read: user:2275>

2025-08-21T07:25:05.136Z,1755761105.136 [DAT](INFO): DAT read: Tx time:07:25:04.3142

2025-08-21T07:25:05.136Z,1755761105.136 [DAT](INFO): Ping request sent.
2025-08-21T07:25:05.136Z,1755761105.136 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:25:05.136Z,1755761105.136 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-21T07:25:05.137Z,1755761105.137 [DAT](INFO): direction in FSK: [-0.282695,0.428729,0.858065]
2025-08-21T07:25:05.137Z,1755761105.137 [DAT](INFO): publishing transmit ping time
2025-08-21T07:25:05.146Z,1755761105.146 [DAT](INFO): publishing transmit ping time
2025-08-21T07:25:07.397Z,1755761107.397 [DAT](INFO): DAT read: Rx Time:07:25:06.2119

2025-08-21T07:25:07.397Z,1755761107.397 [DAT](INFO): Rx dataTimestamp_ set to:1755761107.396801
2025-08-21T07:25:08.159Z,1755761108.159 [DAT](INFO): DAT read: 07:25:06.2119 LVL= 24048, 15313, 21218, 32755, AGC= 45, IDX= 448, 0.05, 0.193, 0.320,-0.697, 1.301, PHS=-1.006,-0.936,-2.042, RAW=  26.7,  52.7, CAL=  25.4,  56.8, ROT= 124.6, -56.8

2025-08-21T07:25:08.161Z,1755761108.161 [DAT](INFO): got valid direction response:
 07:25:06.2119 LVL= 24048, 15313, 21218, 32755, AGC= 45, IDX= 448, 0.05, 0.193, 0.320,-0.697, 1.301, PHS=-1.006,-0.936,-2.042, RAW=  26.7,  52.7, CAL=  25.4,  56.8, ROT= 124.6, -56.8

2025-08-21T07:25:08.162Z,1755761108.162 [DAT](INFO): DAT read: OK

2025-08-21T07:25:08.162Z,1755761108.162 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:25:08.162Z,1755761108.162 [DAT](INFO): DAT read: user:2276>

2025-08-21T07:25:08.164Z,1755761108.164 [DAT](INFO): DAT read: Tx time:07:25:07.3144

2025-08-21T07:25:08.164Z,1755761108.164 [DAT](INFO): Ping request sent.
2025-08-21T07:25:08.164Z,1755761108.164 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:25:08.165Z,1755761108.165 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-21T07:25:08.166Z,1755761108.166 [DAT](INFO): direction in FSK: [-0.310930,0.450719,0.836764]
2025-08-21T07:25:08.167Z,1755761108.167 [DAT](INFO): publishing transmit ping time
2025-08-21T07:25:08.174Z,1755761108.174 [DAT](INFO): publishing transmit ping time
2025-08-21T07:25:10.436Z,1755761110.436 [DAT](INFO): DAT read: Rx Time:07:25:09.2120

2025-08-21T07:25:10.437Z,1755761110.437 [DAT](INFO): Rx dataTimestamp_ set to:1755761110.436457
2025-08-21T07:25:10.944Z,1755761110.944 [DAT](INFO): DAT read: 07:25:09.2120 LVL= 24768, 15665, 24194, 32755, AGC= 45, IDX= 449, 0.04, 0.141, 0.266,-0.768, 1.223, PHS=-0.980,-0.912,-2.035, RAW=  26.9,  51.9, CAL=  25.5,  56.1, ROT= 124.5, -56.1

2025-08-21T07:25:10.945Z,1755761110.945 [DAT](INFO): got valid direction response:
 07:25:09.2120 LVL= 24768, 15665, 24194, 32755, AGC= 45, IDX= 449, 0.04, 0.141, 0.266,-0.768, 1.223, PHS=-0.980,-0.912,-2.035, RAW=  26.9,  51.9, CAL=  25.5,  56.1, ROT= 124.5, -56.1

2025-08-21T07:25:10.946Z,1755761110.946 [DAT](INFO): DAT read: OK

2025-08-21T07:25:10.946Z,1755761110.946 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:25:10.946Z,1755761110.946 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-21T07:25:10.947Z,1755761110.947 [DAT](INFO): direction in FSK: [-0.315910,0.459652,0.830012]
2025-08-21T07:26:00.343Z,1755761160.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:26:00.357Z,1755761160.357 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:26:00.358Z,1755761160.358 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:26:00.608Z,1755761160.608 [DAT](INFO): DAT read: user:2277>

2025-08-21T07:26:00.609Z,1755761160.609 [DAT](INFO): DAT read: Tx time:07:25:59.8149

2025-08-21T07:26:00.609Z,1755761160.609 [DAT](INFO): Ping request sent.
2025-08-21T07:26:00.609Z,1755761160.609 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:26:00.609Z,1755761160.609 [DAT](INFO): publishing transmit ping time
2025-08-21T07:26:00.610Z,1755761160.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-08-21T07:26:00.860Z,1755761160.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250929
2025-08-21T07:26:01.112Z,1755761161.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502903
2025-08-21T07:26:01.364Z,1755761161.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754853
2025-08-21T07:26:01.570Z,1755761161.570 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-21T07:26:01.570Z,1755761161.570 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-21T07:26:01.581Z,1755761161.581 [DockingStepper](INFO): Changing to mode: 4
2025-08-21T07:26:01.617Z,1755761161.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007539
2025-08-21T07:26:01.868Z,1755761161.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258775
2025-08-21T07:26:02.120Z,1755761162.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510885
2025-08-21T07:26:02.372Z,1755761162.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762863
2025-08-21T07:26:02.624Z,1755761162.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014833
2025-08-21T07:26:02.876Z,1755761162.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266848
2025-08-21T07:26:03.128Z,1755761163.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519037
2025-08-21T07:26:03.380Z,1755761163.380 [DAT](INFO): DAT read: Rx Time:07:26:02.2215

2025-08-21T07:26:03.381Z,1755761163.381 [DAT](INFO): Rx dataTimestamp_ set to:1755761163.380447
2025-08-21T07:26:03.381Z,1755761163.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771949
2025-08-21T07:26:03.633Z,1755761163.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023199
2025-08-21T07:26:03.900Z,1755761163.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277336
2025-08-21T07:26:04.142Z,1755761164.142 [DAT](INFO): DAT read: 07:26:02.2215 LVL= 26864, 15761, 19298, 32755, AGC= 47, IDX=  23,-0.06, 1.896, 1.827, 0.728, 2.864, PHS=-0.866,-0.991,-2.180, RAW=  35.0,  48.7, CAL=  33.2,  53.3, ROT= 116.8, -53.3

2025-08-21T07:26:04.144Z,1755761164.144 [DAT](INFO): got valid direction response:
 07:26:02.2215 LVL= 26864, 15761, 19298, 32755, AGC= 47, IDX=  23,-0.06, 1.896, 1.827, 0.728, 2.864, PHS=-0.866,-0.991,-2.180, RAW=  35.0,  48.7, CAL=  33.2,  53.3, ROT= 116.8, -53.3

2025-08-21T07:26:04.145Z,1755761164.145 [DAT](INFO): DAT read: Bearing   2.9,  37.3 (Local)

2025-08-21T07:26:04.146Z,1755761164.146 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.9,  37.3 (Local)

2025-08-21T07:26:04.148Z,1755761164.148 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:26:04.148Z,1755761164.148 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:26:04.150Z,1755761164.150 [DAT](INFO): direction in FSK: [-0.269456,0.533432,0.801776]
2025-08-21T07:26:04.150Z,1755761164.150 [DAT](INFO): publishing direction and range info
2025-08-21T07:26:04.388Z,1755761164.388 [DAT](INFO): DAT read: user:2278>

2025-08-21T07:26:04.389Z,1755761164.389 [DAT](INFO): DAT read: Tx time:07:26:03.6138

2025-08-21T07:26:04.389Z,1755761164.389 [DAT](INFO): Ping request sent.
2025-08-21T07:26:04.390Z,1755761164.390 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:26:04.390Z,1755761164.390 [DAT](INFO): publishing transmit ping time
2025-08-21T07:26:06.908Z,1755761166.908 [DAT](INFO): DAT read: Rx Time:07:26:05.5135

2025-08-21T07:26:06.909Z,1755761166.909 [DAT](INFO): Rx dataTimestamp_ set to:1755761166.908533
2025-08-21T07:26:07.417Z,1755761167.417 [DAT](INFO): DAT read: 07:26:05.5135 LVL= 25680, 14833, 22994, 27683, AGC= 45, IDX= 373,-0.03,-0.588,-0.650,-1.788, 0.411, PHS=-0.897,-1.016,-2.243, RAW=  34.6,  48.7, CAL=  32.8,  53.4, ROT= 117.2, -53.4

2025-08-21T07:26:07.418Z,1755761167.418 [DAT](INFO): got valid direction response:
 07:26:05.5135 LVL= 25680, 14833, 22994, 27683, AGC= 45, IDX= 373,-0.03,-0.588,-0.650,-1.788, 0.411, PHS=-0.897,-1.016,-2.243, RAW=  34.6,  48.7, CAL=  32.8,  53.4, ROT= 117.2, -53.4

2025-08-21T07:26:07.418Z,1755761167.418 [DAT](INFO): DAT read: OK

2025-08-21T07:26:07.418Z,1755761167.418 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:26:07.419Z,1755761167.419 [DAT](INFO): DAT read: user:2279>

2025-08-21T07:26:07.420Z,1755761167.420 [DAT](INFO): DAT read: Tx time:07:26:06.6138

2025-08-21T07:26:07.420Z,1755761167.420 [DAT](INFO): Ping request sent.
2025-08-21T07:26:07.420Z,1755761167.420 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:26:07.421Z,1755761167.421 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-21T07:26:07.422Z,1755761167.422 [DAT](INFO): direction in FSK: [-0.272533,0.530292,0.802817]
2025-08-21T07:26:07.422Z,1755761167.422 [DAT](INFO): publishing transmit ping time
2025-08-21T07:26:07.425Z,1755761167.425 [DAT](INFO): publishing transmit ping time
2025-08-21T07:26:09.680Z,1755761169.680 [DAT](INFO): DAT read: Rx Time:07:26:08.5136

2025-08-21T07:26:09.681Z,1755761169.681 [DAT](INFO): Rx dataTimestamp_ set to:1755761169.680496
2025-08-21T07:26:10.441Z,1755761170.441 [DAT](INFO): DAT read: 07:26:08.5136 LVL= 24560, 14465, 21842, 30867, AGC= 45, IDX= 438,-0.03,-0.573,-0.648,-1.810, 0.414, PHS=-0.885,-1.016,-2.268, RAW=  34.9,  48.1, CAL=  33.1,  52.8, ROT= 116.9, -52.8

2025-08-21T07:26:10.442Z,1755761170.442 [DAT](INFO): got valid direction response:
 07:26:08.5136 LVL= 24560, 14465, 21842, 30867, AGC= 45, IDX= 438,-0.03,-0.573,-0.648,-1.810, 0.414, PHS=-0.885,-1.016,-2.268, RAW=  34.9,  48.1, CAL=  33.1,  52.8, ROT= 116.9, -52.8

2025-08-21T07:26:10.442Z,1755761170.442 [DAT](INFO): DAT read: OK

2025-08-21T07:26:10.443Z,1755761170.443 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:26:10.443Z,1755761170.443 [DAT](INFO): DAT read: user:2280>

2025-08-21T07:26:10.444Z,1755761170.444 [DAT](INFO): DAT read: Tx time:07:26:09.6138

2025-08-21T07:26:10.444Z,1755761170.444 [DAT](INFO): Ping request sent.
2025-08-21T07:26:10.445Z,1755761170.445 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:26:10.445Z,1755761170.445 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-21T07:26:10.446Z,1755761170.446 [DAT](INFO): direction in FSK: [-0.273542,0.539180,0.796530]
2025-08-21T07:26:10.446Z,1755761170.446 [DAT](INFO): publishing transmit ping time
2025-08-21T07:26:10.449Z,1755761170.449 [DAT](INFO): publishing transmit ping time
2025-08-21T07:26:12.712Z,1755761172.712 [DAT](INFO): DAT read: Rx Time:07:26:11.5137

2025-08-21T07:26:12.713Z,1755761172.713 [DAT](INFO): Rx dataTimestamp_ set to:1755761172.712397
2025-08-21T07:26:13.226Z,1755761173.226 [DAT](INFO): DAT read: 07:26:11.5137 LVL= 26816, 15249, 21266, 27939, AGC= 45, IDX= 439,-0.02,-0.458,-0.539,-1.698, 0.532, PHS=-0.887,-1.025,-2.274, RAW=  35.2,  48.2, CAL=  33.4,  52.9, ROT= 116.6, -52.9

2025-08-21T07:26:13.232Z,1755761173.232 [DAT](INFO): got valid direction response:
 07:26:11.5137 LVL= 26816, 15249, 21266, 27939, AGC= 45, IDX= 439,-0.02,-0.458,-0.539,-1.698, 0.532, PHS=-0.887,-1.025,-2.274, RAW=  35.2,  48.2, CAL=  33.4,  52.9, ROT= 116.6, -52.9

2025-08-21T07:26:13.233Z,1755761173.233 [DAT](INFO): DAT read: OK

2025-08-21T07:26:13.233Z,1755761173.233 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:26:13.233Z,1755761173.233 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-21T07:26:13.234Z,1755761173.234 [DAT](INFO): direction in FSK: [-0.270092,0.539361,0.797584]
2025-08-21T07:26:46.427Z,1755761206.427 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS,   -41, 

2025-08-21T07:27:31.639Z,1755761251.639 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-21T07:27:31.639Z,1755761251.639 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-21T07:27:31.670Z,1755761251.670 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T07:27:32.145Z,1755761252.145 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:27:32.396Z,1755761252.396 [DAT](INFO): DAT read: user:2281>

2025-08-21T07:27:32.397Z,1755761252.397 [DAT](INFO): DAT read: Tx time:07:27:31.6133

2025-08-21T07:27:32.397Z,1755761252.397 [DAT](INFO): Ping request sent.
2025-08-21T07:27:32.397Z,1755761252.397 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:27:32.397Z,1755761252.397 [DAT](INFO): publishing transmit ping time
2025-08-21T07:27:32.398Z,1755761252.398 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:27:32.648Z,1755761252.648 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:27:34.916Z,1755761254.916 [DAT](INFO): DAT read: Rx Time:07:27:33.5160

2025-08-21T07:27:34.917Z,1755761254.917 [DAT](INFO): Rx dataTimestamp_ set to:1755761254.916480
2025-08-21T07:27:35.425Z,1755761255.425 [DAT](INFO): DAT read: 07:27:33.5160 LVL= 23536, 15697, 23954, 30755, AGC= 45, IDX= 467, 0.31, 1.479, 1.560, 0.751, 2.606, PHS=-1.025,-1.000,-1.899, RAW=  28.6,  57.4, CAL=  27.4,  61.0, ROT= 122.6, -61.0

2025-08-21T07:27:35.426Z,1755761255.426 [DAT](INFO): got valid direction response:
 07:27:33.5160 LVL= 23536, 15697, 23954, 30755, AGC= 45, IDX= 467, 0.31, 1.479, 1.560, 0.751, 2.606, PHS=-1.025,-1.000,-1.899, RAW=  28.6,  57.4, CAL=  27.4,  61.0, ROT= 122.6, -61.0

2025-08-21T07:27:35.426Z,1755761255.426 [DAT](INFO): DAT read: OK

2025-08-21T07:27:35.426Z,1755761255.426 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:27:35.427Z,1755761255.427 [DAT](INFO): DAT read: user:2282>

2025-08-21T07:27:35.428Z,1755761255.428 [DAT](INFO): DAT read: Tx time:07:27:34.6133

2025-08-21T07:27:35.428Z,1755761255.428 [DAT](INFO): Ping request sent.
2025-08-21T07:27:35.428Z,1755761255.428 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:27:35.428Z,1755761255.428 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-21T07:27:35.429Z,1755761255.429 [DAT](INFO): direction in FSK: [-0.261201,0.408429,0.874620]
2025-08-21T07:27:35.430Z,1755761255.430 [DAT](INFO): publishing transmit ping time
2025-08-21T07:27:35.433Z,1755761255.433 [DAT](INFO): publishing transmit ping time
2025-08-21T07:27:37.692Z,1755761257.692 [DAT](INFO): DAT read: Rx Time:07:27:36.5161

2025-08-21T07:27:37.693Z,1755761257.693 [DAT](INFO): Rx dataTimestamp_ set to:1755761257.692598
2025-08-21T07:27:38.453Z,1755761258.453 [DAT](INFO): DAT read: 07:27:36.5161 LVL= 24608, 13489, 24034, 32051, AGC= 45, IDX= 436, 0.30, 1.446, 1.530, 0.573, 2.564, PHS=-1.015,-0.988,-2.035, RAW=  28.7,  54.1, CAL=  27.3,  58.1, ROT= 122.7, -58.1

2025-08-21T07:27:38.454Z,1755761258.454 [DAT](INFO): got valid direction response:
 07:27:36.5161 LVL= 24608, 13489, 24034, 32051, AGC= 45, IDX= 436, 0.30, 1.446, 1.530, 0.573, 2.564, PHS=-1.015,-0.988,-2.035, RAW=  28.7,  54.1, CAL=  27.3,  58.1, ROT= 122.7, -58.1

2025-08-21T07:27:38.454Z,1755761258.454 [DAT](INFO): DAT read: OK

2025-08-21T07:27:38.454Z,1755761258.454 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:27:38.455Z,1755761258.455 [DAT](INFO): DAT read: user:2283>

2025-08-21T07:27:38.456Z,1755761258.456 [DAT](INFO): DAT read: Tx time:07:27:37.6133

2025-08-21T07:27:38.456Z,1755761258.456 [DAT](INFO): Ping request sent.
2025-08-21T07:27:38.456Z,1755761258.456 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:27:38.456Z,1755761258.456 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-21T07:27:38.457Z,1755761258.457 [DAT](INFO): direction in FSK: [-0.285484,0.444687,0.848972]
2025-08-21T07:27:38.457Z,1755761258.457 [DAT](INFO): publishing transmit ping time
2025-08-21T07:27:38.461Z,1755761258.461 [DAT](INFO): publishing transmit ping time
2025-08-21T07:27:40.717Z,1755761260.717 [DAT](INFO): DAT read: Rx Time:07:27:39.5162

2025-08-21T07:27:40.718Z,1755761260.718 [DAT](INFO): Rx dataTimestamp_ set to:1755761260.717856
2025-08-21T07:27:41.226Z,1755761261.226 [DAT](INFO): DAT read: 07:27:39.5162 LVL= 24720, 15153, 23794, 32755, AGC= 45, IDX= 437, 0.40,-0.041, 0.081,-0.987, 1.042, PHS=-0.981,-0.915,-2.073, RAW=  27.1,  51.3, CAL=  25.7,  55.5, ROT= 124.3, -55.5

2025-08-21T07:27:41.228Z,1755761261.228 [DAT](INFO): got valid direction response:
 07:27:39.5162 LVL= 24720, 15153, 23794, 32755, AGC= 45, IDX= 437, 0.40,-0.041, 0.081,-0.987, 1.042, PHS=-0.981,-0.915,-2.073, RAW=  27.1,  51.3, CAL=  25.7,  55.5, ROT= 124.3, -55.5

2025-08-21T07:27:41.229Z,1755761261.229 [DAT](INFO): DAT read: OK

2025-08-21T07:27:41.230Z,1755761261.230 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:27:41.230Z,1755761261.230 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-08-21T07:27:41.232Z,1755761261.232 [DAT](INFO): direction in FSK: [-0.319185,0.467907,0.824126]
2025-08-21T07:28:00.738Z,1755761280.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:28:00.912Z,1755761280.912 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:28:00.913Z,1755761280.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:28:01.165Z,1755761281.165 [DAT](INFO): DAT read: user:2284>

2025-08-21T07:28:01.166Z,1755761281.166 [DAT](INFO): DAT read: Tx time:07:28:00.3641

2025-08-21T07:28:01.167Z,1755761281.167 [DAT](INFO): Ping request sent.
2025-08-21T07:28:01.168Z,1755761281.168 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:28:01.168Z,1755761281.168 [DAT](INFO): publishing transmit ping time
2025-08-21T07:28:01.169Z,1755761281.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001932
2025-08-21T07:28:01.416Z,1755761281.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249261
2025-08-21T07:28:01.535Z,1755761281.535 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00022611151891,35.0, +10.6, 92.2,  0
2025-08-21T07:28:01.669Z,1755761281.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501378
2025-08-21T07:28:01.921Z,1755761281.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753562
2025-08-21T07:28:02.173Z,1755761282.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005848
2025-08-21T07:28:02.425Z,1755761282.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257832
2025-08-21T07:28:02.677Z,1755761282.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510413
2025-08-21T07:28:02.928Z,1755761282.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761199
2025-08-21T07:28:03.181Z,1755761283.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013856
2025-08-21T07:28:03.432Z,1755761283.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265284
2025-08-21T07:28:03.684Z,1755761283.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517238
2025-08-21T07:28:03.940Z,1755761283.940 [DAT](INFO): DAT read: Rx Time:07:28:02.7708

2025-08-21T07:28:03.941Z,1755761283.941 [DAT](INFO): Rx dataTimestamp_ set to:1755761283.940484
2025-08-21T07:28:03.941Z,1755761283.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774348
2025-08-21T07:28:04.192Z,1755761284.192 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025307
2025-08-21T07:28:04.446Z,1755761284.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278982
2025-08-21T07:28:04.702Z,1755761284.702 [DAT](INFO): DAT read: 07:28:02.7708 LVL= 22640, 14897, 21954, 32755, AGC= 45, IDX= 471, 0.35, 0.074, 0.099,-0.941, 1.149, PHS=-0.972,-1.004,-2.134, RAW=  31.4,  51.7, CAL=  29.8,  56.0, ROT= 120.2, -56.0

2025-08-21T07:28:04.703Z,1755761284.703 [DAT](INFO): got valid direction response:
 07:28:02.7708 LVL= 22640, 14897, 21954, 32755, AGC= 45, IDX= 471, 0.35, 0.074, 0.099,-0.941, 1.149, PHS=-0.972,-1.004,-2.134, RAW=  31.4,  51.7, CAL=  29.8,  56.0, ROT= 120.2, -56.0

2025-08-21T07:28:04.704Z,1755761284.704 [DAT](INFO): DAT read: Bearing   1.2,  31.6 (Local)

2025-08-21T07:28:04.705Z,1755761284.705 [DAT](INFO): Local bearing/azimuth received:
 Bearing   1.2,  31.6 (Local)

2025-08-21T07:28:04.706Z,1755761284.706 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:28:04.707Z,1755761284.707 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:28:04.708Z,1755761284.708 [DAT](INFO): direction in FSK: [-0.281285,0.483296,0.829038]
2025-08-21T07:28:04.708Z,1755761284.708 [DAT](INFO): publishing direction and range info
2025-08-21T07:28:31.881Z,1755761311.881 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-21T07:28:31.881Z,1755761311.881 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-21T07:28:31.892Z,1755761311.892 [DockingStepper](INFO): Changing to mode: 4
2025-08-21T07:28:32.177Z,1755761312.177 [DAT](INFO): DAT read: user:2285>

2025-08-21T07:28:32.178Z,1755761312.178 [DAT](INFO): DAT read: Tx time:07:28:31.4130

2025-08-21T07:28:32.178Z,1755761312.178 [DAT](INFO): Ping request sent.
2025-08-21T07:28:32.178Z,1755761312.178 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:28:32.178Z,1755761312.178 [DAT](INFO): publishing transmit ping time
2025-08-21T07:28:34.699Z,1755761314.699 [DAT](INFO): DAT read: Rx Time:07:28:33.3177

2025-08-21T07:28:34.701Z,1755761314.701 [DAT](INFO): Rx dataTimestamp_ set to:1755761314.699830
2025-08-21T07:28:35.206Z,1755761315.206 [DAT](INFO): DAT read: 07:28:33.3177 LVL= 22352, 13521, 24978, 29811, AGC= 44, IDX= 424,-0.20,-0.777,-0.899,-1.999, 0.163, PHS=-0.839,-1.018,-2.206, RAW=  36.9,  48.1, CAL=  35.1,  52.9, ROT= 114.9, -52.9

2025-08-21T07:28:35.207Z,1755761315.207 [DAT](INFO): got valid direction response:
 07:28:33.3177 LVL= 22352, 13521, 24978, 29811, AGC= 44, IDX= 424,-0.20,-0.777,-0.899,-1.999, 0.163, PHS=-0.839,-1.018,-2.206, RAW=  36.9,  48.1, CAL=  35.1,  52.9, ROT= 114.9, -52.9

2025-08-21T07:28:35.207Z,1755761315.207 [DAT](INFO): DAT read: OK

2025-08-21T07:28:35.208Z,1755761315.208 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:28:35.208Z,1755761315.208 [DAT](INFO): DAT read: user:2286>

2025-08-21T07:28:35.209Z,1755761315.209 [DAT](INFO): DAT read: Tx time:07:28:34.4136

2025-08-21T07:28:35.209Z,1755761315.209 [DAT](INFO): Ping request sent.
2025-08-21T07:28:35.209Z,1755761315.209 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:28:35.210Z,1755761315.210 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-21T07:28:35.211Z,1755761315.211 [DAT](INFO): direction in FSK: [-0.253972,0.547136,0.797584]
2025-08-21T07:28:35.211Z,1755761315.211 [DAT](INFO): publishing transmit ping time
2025-08-21T07:28:35.214Z,1755761315.214 [DAT](INFO): publishing transmit ping time
2025-08-21T07:28:37.720Z,1755761317.720 [DAT](INFO): DAT read: Rx Time:07:28:36.3177

2025-08-21T07:28:37.721Z,1755761317.721 [DAT](INFO): Rx dataTimestamp_ set to:1755761317.720444
2025-08-21T07:28:38.228Z,1755761318.228 [DAT](INFO): DAT read: 07:28:36.3177 LVL= 26800, 13537, 22866, 28963, AGC= 44, IDX= 441,-0.29,-0.989,-1.098,-2.156,-0.010, PHS=-0.877,-1.042,-2.189, RAW=  36.6,  49.6, CAL=  34.9,  54.2, ROT= 115.1, -54.2

2025-08-21T07:28:38.230Z,1755761318.230 [DAT](INFO): got valid direction response:
 07:28:36.3177 LVL= 26800, 13537, 22866, 28963, AGC= 44, IDX= 441,-0.29,-0.989,-1.098,-2.156,-0.010, PHS=-0.877,-1.042,-2.189, RAW=  36.6,  49.6, CAL=  34.9,  54.2, ROT= 115.1, -54.2

2025-08-21T07:28:38.230Z,1755761318.230 [DAT](INFO): DAT read: OK

2025-08-21T07:28:38.230Z,1755761318.230 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:28:38.231Z,1755761318.231 [DAT](INFO): DAT read: user:2287>

2025-08-21T07:28:38.231Z,1755761318.231 [DAT](INFO): DAT read: Tx time:07:28:37.4130

2025-08-21T07:28:38.232Z,1755761318.232 [DAT](INFO): Ping request sent.
2025-08-21T07:28:38.232Z,1755761318.232 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:28:38.232Z,1755761318.232 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-21T07:28:38.233Z,1755761318.233 [DAT](INFO): direction in FSK: [-0.248139,0.529719,0.811064]
2025-08-21T07:28:38.233Z,1755761318.233 [DAT](INFO): publishing transmit ping time
2025-08-21T07:28:38.236Z,1755761318.236 [DAT](INFO): publishing transmit ping time
2025-08-21T07:28:40.492Z,1755761320.492 [DAT](INFO): DAT read: Rx Time:07:28:39.3177

2025-08-21T07:28:40.493Z,1755761320.493 [DAT](INFO): Rx dataTimestamp_ set to:1755761320.492494
2025-08-21T07:28:41.252Z,1755761321.252 [DAT](INFO): DAT read: 07:28:39.3177 LVL= 24912, 15473, 22642, 31475, AGC= 45, IDX= 442,-0.31,-1.518,-1.580,-2.763,-0.548, PHS=-0.868,-0.987,-2.258, RAW=  34.4,  47.5, CAL=  32.6,  52.2, ROT= 117.4, -52.2

2025-08-21T07:28:41.253Z,1755761321.253 [DAT](INFO): got valid direction response:
 07:28:39.3177 LVL= 24912, 15473, 22642, 31475, AGC= 45, IDX= 442,-0.31,-1.518,-1.580,-2.763,-0.548, PHS=-0.868,-0.987,-2.258, RAW=  34.4,  47.5, CAL=  32.6,  52.2, ROT= 117.4, -52.2

2025-08-21T07:28:41.253Z,1755761321.253 [DAT](INFO): DAT read: OK

2025-08-21T07:28:41.254Z,1755761321.254 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:28:41.254Z,1755761321.254 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-21T07:28:41.255Z,1755761321.255 [DAT](INFO): direction in FSK: [-0.282060,0.544148,0.790155]
2025-08-21T07:29:10.613Z,1755761350.613 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V
2025-08-21T07:30:01.189Z,1755761401.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:30:01.210Z,1755761401.210 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:30:01.211Z,1755761401.211 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:30:01.460Z,1755761401.460 [DAT](INFO): DAT read: user:2288>

2025-08-21T07:30:01.461Z,1755761401.461 [DAT](INFO): DAT read: Tx time:07:30:00.6635

2025-08-21T07:30:01.461Z,1755761401.461 [DAT](INFO): Ping request sent.
2025-08-21T07:30:01.461Z,1755761401.461 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:30:01.462Z,1755761401.462 [DAT](INFO): publishing transmit ping time
2025-08-21T07:30:01.462Z,1755761401.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745
2025-08-21T07:30:01.712Z,1755761401.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250791
2025-08-21T07:30:01.951Z,1755761401.951 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-21T07:30:01.951Z,1755761401.951 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-21T07:30:01.952Z,1755761401.952 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-08-21T07:30:01.962Z,1755761401.962 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T07:30:01.969Z,1755761401.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507551
2025-08-21T07:30:02.216Z,1755761402.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754846
2025-08-21T07:30:02.472Z,1755761402.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010523
2025-08-21T07:30:02.720Z,1755761402.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258747
2025-08-21T07:30:02.972Z,1755761402.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510842
2025-08-21T07:30:03.224Z,1755761403.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762891
2025-08-21T07:30:03.476Z,1755761403.476 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014902
2025-08-21T07:30:03.728Z,1755761403.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266888
2025-08-21T07:30:03.980Z,1755761403.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518866
2025-08-21T07:30:04.232Z,1755761404.232 [DAT](INFO): DAT read: Rx Time:07:30:03.0703

2025-08-21T07:30:04.233Z,1755761404.233 [DAT](INFO): Rx dataTimestamp_ set to:1755761404.232462
2025-08-21T07:30:04.233Z,1755761404.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771939
2025-08-21T07:30:04.484Z,1755761404.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022845
2025-08-21T07:30:04.739Z,1755761404.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277001
2025-08-21T07:30:04.993Z,1755761404.993 [DAT](INFO): DAT read: 07:30:03.0703 LVL= 29200, 16225, 23474, 32755, AGC= 44, IDX= 455,-0.08, 0.538, 0.608,-0.338, 1.628, PHS=-0.988,-0.976,-2.010, RAW=  29.4,  53.8, CAL=  28.0,  57.8, ROT= 122.0, -57.8

2025-08-21T07:30:04.994Z,1755761404.994 [DAT](INFO): got valid direction response:
 07:30:03.0703 LVL= 29200, 16225, 23474, 32755, AGC= 44, IDX= 455,-0.08, 0.538, 0.608,-0.338, 1.628, PHS=-0.988,-0.976,-2.010, RAW=  29.4,  53.8, CAL=  28.0,  57.8, ROT= 122.0, -57.8

2025-08-21T07:30:04.996Z,1755761404.996 [DAT](INFO): DAT read: Bearing   3.8,  29.4 (Local)

2025-08-21T07:30:04.996Z,1755761404.996 [DAT](INFO): Local bearing/azimuth received:
 Bearing   3.8,  29.4 (Local)

2025-08-21T07:30:04.997Z,1755761404.997 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:30:04.998Z,1755761404.998 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:30:04.999Z,1755761404.999 [DAT](INFO): direction in FSK: [-0.282381,0.451905,0.846193]
2025-08-21T07:30:04.999Z,1755761404.999 [DAT](INFO): publishing direction and range info
2025-08-21T07:30:05.002Z,1755761405.002 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:30:05.240Z,1755761405.240 [DAT](INFO): DAT read: user:2289>

2025-08-21T07:30:05.241Z,1755761405.241 [DAT](INFO): DAT read: Tx time:07:30:04.4625

2025-08-21T07:30:05.241Z,1755761405.241 [DAT](INFO): Ping request sent.
2025-08-21T07:30:05.241Z,1755761405.241 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:30:05.242Z,1755761405.242 [DAT](INFO): publishing transmit ping time
2025-08-21T07:30:05.242Z,1755761405.242 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:30:05.492Z,1755761405.492 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:30:07.512Z,1755761407.512 [DAT](INFO): DAT read: Rx Time:07:30:06.3203

2025-08-21T07:30:07.513Z,1755761407.513 [DAT](INFO): Rx dataTimestamp_ set to:1755761407.512480
2025-08-21T07:30:08.023Z,1755761408.023 [DAT](INFO): DAT read: 07:30:06.3203 LVL= 24000, 15473, 20738, 32755, AGC= 45, IDX= 455,-0.05,-0.922,-0.841,-1.801, 0.155, PHS=-0.976,-0.951,-2.000, RAW=  28.8,  53.2, CAL=  27.4,  57.3, ROT= 122.6, -57.3

2025-08-21T07:30:08.028Z,1755761408.028 [DAT](INFO): got valid direction response:
 07:30:06.3203 LVL= 24000, 15473, 20738, 32755, AGC= 45, IDX= 455,-0.05,-0.922,-0.841,-1.801, 0.155, PHS=-0.976,-0.951,-2.000, RAW=  28.8,  53.2, CAL=  27.4,  57.3, ROT= 122.6, -57.3

2025-08-21T07:30:08.028Z,1755761408.028 [DAT](INFO): DAT read: OK

2025-08-21T07:30:08.028Z,1755761408.028 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:30:08.029Z,1755761408.029 [DAT](INFO): DAT read: user:2290>

2025-08-21T07:30:08.030Z,1755761408.030 [DAT](INFO): DAT read: Tx time:07:30:07.4125

2025-08-21T07:30:08.030Z,1755761408.030 [DAT](INFO): Ping request sent.
2025-08-21T07:30:08.030Z,1755761408.030 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:30:08.030Z,1755761408.030 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-21T07:30:08.035Z,1755761408.035 [DAT](INFO): direction in FSK: [-0.291066,0.455127,0.841511]
2025-08-21T07:30:08.036Z,1755761408.036 [DAT](INFO): publishing transmit ping time
2025-08-21T07:30:08.038Z,1755761408.038 [DAT](INFO): publishing transmit ping time
2025-08-21T07:30:10.540Z,1755761410.540 [DAT](INFO): DAT read: Rx Time:07:30:09.2703

2025-08-21T07:30:10.541Z,1755761410.541 [DAT](INFO): Rx dataTimestamp_ set to:1755761410.540479
2025-08-21T07:30:11.053Z,1755761411.053 [DAT](INFO): DAT read: 07:30:09.2703 LVL= 24208, 13793, 22178, 32755, AGC= 45, IDX= 440,-0.10,-0.780,-0.707,-1.699, 0.273, PHS=-0.951,-0.935,-2.016, RAW=  29.2,  52.1, CAL=  27.8,  56.3, ROT= 122.2, -56.3

2025-08-21T07:30:11.054Z,1755761411.054 [DAT](INFO): got valid direction response:
 07:30:09.2703 LVL= 24208, 13793, 22178, 32755, AGC= 45, IDX= 440,-0.10,-0.780,-0.707,-1.699, 0.273, PHS=-0.951,-0.935,-2.016, RAW=  29.2,  52.1, CAL=  27.8,  56.3, ROT= 122.2, -56.3

2025-08-21T07:30:11.054Z,1755761411.054 [DAT](INFO): DAT read: OK

2025-08-21T07:30:11.055Z,1755761411.055 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:30:11.055Z,1755761411.055 [DAT](INFO): DAT read: user:2291>

2025-08-21T07:30:11.056Z,1755761411.056 [DAT](INFO): DAT read: Tx time:07:30:10.3625

2025-08-21T07:30:11.056Z,1755761411.056 [DAT](INFO): Ping request sent.
2025-08-21T07:30:11.056Z,1755761411.056 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:30:11.057Z,1755761411.057 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-21T07:30:11.058Z,1755761411.058 [DAT](INFO): direction in FSK: [-0.295663,0.469506,0.831954]
2025-08-21T07:30:11.058Z,1755761411.058 [DAT](INFO): publishing transmit ping time
2025-08-21T07:30:11.061Z,1755761411.061 [DAT](INFO): publishing transmit ping time
2025-08-21T07:30:13.580Z,1755761413.580 [DAT](INFO): DAT read: Rx Time:07:30:12.2204

2025-08-21T07:30:13.581Z,1755761413.581 [DAT](INFO): Rx dataTimestamp_ set to:1755761413.580452
2025-08-21T07:30:14.089Z,1755761414.089 [DAT](INFO): DAT read: 07:30:12.2204 LVL= 26448, 12225, 23314, 32755, AGC= 44, IDX= 441,-0.10,-1.117,-1.115,-2.180,-0.145, PHS=-0.870,-0.924,-2.078, RAW=  32.3,  49.2, CAL=  30.6,  53.7, ROT= 119.4, -53.7

2025-08-21T07:30:14.090Z,1755761414.090 [DAT](INFO): got valid direction response:
 07:30:12.2204 LVL= 26448, 12225, 23314, 32755, AGC= 44, IDX= 441,-0.10,-1.117,-1.115,-2.180,-0.145, PHS=-0.870,-0.924,-2.078, RAW=  32.3,  49.2, CAL=  30.6,  53.7, ROT= 119.4, -53.7

2025-08-21T07:30:14.090Z,1755761414.090 [DAT](INFO): DAT read: OK

2025-08-21T07:30:14.091Z,1755761414.091 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:30:14.091Z,1755761414.091 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-21T07:30:14.092Z,1755761414.092 [DAT](INFO): direction in FSK: [-0.290621,0.515770,0.805928]
2025-08-21T07:30:20.527Z,1755761420.527 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,      -11.82,          ,   8.33,  0.00
2025-08-21T07:31:02.199Z,1755761462.199 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-21T07:31:02.203Z,1755761462.203 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-21T07:31:02.230Z,1755761462.230 [DockingStepper](INFO): Changing to mode: 4
2025-08-21T07:31:02.520Z,1755761462.520 [DAT](INFO): DAT read: user:2292>

2025-08-21T07:31:02.521Z,1755761462.521 [DAT](INFO): DAT read: Tx time:07:31:01.7125

2025-08-21T07:31:02.521Z,1755761462.521 [DAT](INFO): Ping request sent.
2025-08-21T07:31:02.521Z,1755761462.521 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:31:02.522Z,1755761462.522 [DAT](INFO): publishing transmit ping time
2025-08-21T07:31:04.788Z,1755761464.788 [DAT](INFO): DAT read: Rx Time:07:31:03.5719

2025-08-21T07:31:04.789Z,1755761464.789 [DAT](INFO): Rx dataTimestamp_ set to:1755761464.788448
2025-08-21T07:31:05.296Z,1755761465.296 [DAT](INFO): DAT read: 07:31:03.5719 LVL= 21568, 14449, 23490, 24563, AGC= 43, IDX= 458,-0.00,-0.511,-0.584,-1.757, 0.433, PHS=-0.843,-0.973,-2.234, RAW=  34.8,  47.1, CAL=  33.0,  51.9, ROT= 117.0, -51.9

2025-08-21T07:31:05.297Z,1755761465.297 [DAT](INFO): got valid direction response:
 07:31:03.5719 LVL= 21568, 14449, 23490, 24563, AGC= 43, IDX= 458,-0.00,-0.511,-0.584,-1.757, 0.433, PHS=-0.843,-0.973,-2.234, RAW=  34.8,  47.1, CAL=  33.0,  51.9, ROT= 117.0, -51.9

2025-08-21T07:31:05.298Z,1755761465.298 [DAT](INFO): DAT read: OK

2025-08-21T07:31:05.298Z,1755761465.298 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:31:05.298Z,1755761465.298 [DAT](INFO): DAT read: user:2293>

2025-08-21T07:31:05.299Z,1755761465.299 [DAT](INFO): DAT read: Tx time:07:31:04.6635

2025-08-21T07:31:05.300Z,1755761465.300 [DAT](INFO): Ping request sent.
2025-08-21T07:31:05.300Z,1755761465.300 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:31:05.300Z,1755761465.300 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-21T07:31:05.301Z,1755761465.301 [DAT](INFO): direction in FSK: [-0.280128,0.549783,0.786935]
2025-08-21T07:31:05.301Z,1755761465.301 [DAT](INFO): publishing transmit ping time
2025-08-21T07:31:05.304Z,1755761465.304 [DAT](INFO): publishing transmit ping time
2025-08-21T07:31:07.813Z,1755761467.813 [DAT](INFO): DAT read: Rx Time:07:31:06.5220

2025-08-21T07:31:07.814Z,1755761467.814 [DAT](INFO): Rx dataTimestamp_ set to:1755761467.813439
2025-08-21T07:31:08.321Z,1755761468.321 [DAT](INFO): DAT read: 07:31:06.5220 LVL= 23088, 14401, 23010, 30003, AGC= 44, IDX= 427,-0.11,-1.197,-1.264,-2.368,-0.217, PHS=-0.878,-1.003,-2.195, RAW=  34.9,  48.9, CAL=  33.1,  53.5, ROT= 116.9, -53.5

2025-08-21T07:31:08.322Z,1755761468.322 [DAT](INFO): got valid direction response:
 07:31:06.5220 LVL= 23088, 14401, 23010, 30003, AGC= 44, IDX= 427,-0.11,-1.197,-1.264,-2.368,-0.217, PHS=-0.878,-1.003,-2.195, RAW=  34.9,  48.9, CAL=  33.1,  53.5, ROT= 116.9, -53.5

2025-08-21T07:31:08.322Z,1755761468.322 [DAT](INFO): DAT read: OK

2025-08-21T07:31:08.323Z,1755761468.323 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:31:08.327Z,1755761468.327 [DAT](INFO): DAT read: user:2294>

2025-08-21T07:31:08.328Z,1755761468.328 [DAT](INFO): DAT read: Tx time:07:31:07.6124

2025-08-21T07:31:08.328Z,1755761468.328 [DAT](INFO): Ping request sent.
2025-08-21T07:31:08.328Z,1755761468.328 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:31:08.329Z,1755761468.329 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-21T07:31:08.330Z,1755761468.330 [DAT](INFO): direction in FSK: [-0.269118,0.530461,0.803857]
2025-08-21T07:31:08.330Z,1755761468.330 [DAT](INFO): publishing transmit ping time
2025-08-21T07:31:08.333Z,1755761468.333 [DAT](INFO): publishing transmit ping time
2025-08-21T07:31:10.837Z,1755761470.837 [DAT](INFO): DAT read: Rx Time:07:31:09.4721

2025-08-21T07:31:10.837Z,1755761470.837 [DAT](INFO): Rx dataTimestamp_ set to:1755761470.836797
2025-08-21T07:31:11.344Z,1755761471.344 [DAT](INFO): DAT read: 07:31:09.4720 LVL= 27632, 14017, 20850, 28563, AGC= 45, IDX= 460,-0.22,-1.061,-1.142,-2.326,-0.083, PHS=-0.876,-1.014,-2.287, RAW=  35.1,  47.6, CAL=  33.3,  52.4, ROT= 116.7, -52.4

2025-08-21T07:31:11.345Z,1755761471.345 [DAT](INFO): got valid direction response:
 07:31:09.4720 LVL= 27632, 14017, 20850, 28563, AGC= 45, IDX= 460,-0.22,-1.061,-1.142,-2.326,-0.083, PHS=-0.876,-1.014,-2.287, RAW=  35.1,  47.6, CAL=  33.3,  52.4, ROT= 116.7, -52.4

2025-08-21T07:31:11.346Z,1755761471.346 [DAT](INFO): DAT read: OK

2025-08-21T07:31:11.346Z,1755761471.346 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:31:11.346Z,1755761471.346 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-08-21T07:31:11.347Z,1755761471.347 [DAT](INFO): direction in FSK: [-0.274150,0.545086,0.792290]
2025-08-21T07:31:30.439Z,1755761490.439 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-08-21T07:31:30.439Z,1755761490.439 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-08-21T07:31:30.439Z,1755761490.439 [RDI_Pathfinder](ERROR): Communications Fault
2025-08-21T07:31:30.554Z,1755761490.554 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-08-21T07:31:30.801Z,1755761490.801 [RDI_Pathfinder](INFO): Powering down
2025-08-21T07:31:31.697Z,1755761491.697 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-08-21T07:31:31.697Z,1755761491.697 [RDI_Pathfinder] No Fault, FailCount= 1
2025-08-21T07:31:32.015Z,1755761492.015 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-08-21T07:31:45.775Z,1755761505.775 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  87.98,  78.80,  90.01
2025-08-21T07:31:48.668Z,1755761508.668 [lineCaptureHoming:MicromodemComms:CheckIn:A](INFO): Timed out from 2025-08-21T07:21:48.6Z
2025-08-21T07:31:48.668Z,1755761508.668 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-21T07:31:48.669Z,1755761508.669 [lineCaptureHoming:MicromodemComms:CheckIn](INFO): Completed lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:31:48.669Z,1755761508.669 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-21T07:31:48.669Z,1755761508.669 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:31:48.669Z,1755761508.669 [lineCaptureHoming:MicromodemComms](INFO): Completed lineCaptureHoming:MicromodemComms
2025-08-21T07:31:49.019Z,1755761509.019 [lineCaptureHoming:MicromodemComms] Running Loop=1
2025-08-21T07:31:49.019Z,1755761509.019 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms
2025-08-21T07:31:49.019Z,1755761509.019 [lineCaptureHoming:MicromodemComms:CheckIn] Running Loop=1
2025-08-21T07:31:49.019Z,1755761509.019 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:31:49.019Z,1755761509.019 [lineCaptureHoming:MicromodemComms:CheckIn:A] Running Loop=1
2025-08-21T07:32:01.231Z,1755761521.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:32:01.292Z,1755761521.292 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:32:01.293Z,1755761521.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:32:01.545Z,1755761521.545 [DAT](INFO): DAT read: user:2295>

2025-08-21T07:32:01.546Z,1755761521.546 [DAT](INFO): DAT read: Tx time:07:32:00.7630

2025-08-21T07:32:01.547Z,1755761521.547 [DAT](INFO): Ping request sent.
2025-08-21T07:32:01.547Z,1755761521.547 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:32:01.547Z,1755761521.547 [DAT](INFO): publishing transmit ping time
2025-08-21T07:32:01.548Z,1755761521.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001461
2025-08-21T07:32:01.796Z,1755761521.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249487
2025-08-21T07:32:02.049Z,1755761522.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502148
2025-08-21T07:32:02.300Z,1755761522.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753474
2025-08-21T07:32:02.553Z,1755761522.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006629
2025-08-21T07:32:02.804Z,1755761522.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257560
2025-08-21T07:32:03.057Z,1755761523.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510151
2025-08-21T07:32:03.308Z,1755761523.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761524
2025-08-21T07:32:03.560Z,1755761523.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013589
2025-08-21T07:32:03.813Z,1755761523.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265776
2025-08-21T07:32:04.064Z,1755761524.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517595
2025-08-21T07:32:04.318Z,1755761524.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771448
2025-08-21T07:32:04.568Z,1755761524.568 [DAT](INFO): DAT read: Rx Time:07:32:03.1699

2025-08-21T07:32:04.569Z,1755761524.569 [DAT](INFO): Rx dataTimestamp_ set to:1755761524.568449
2025-08-21T07:32:04.569Z,1755761524.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022569
2025-08-21T07:32:04.820Z,1755761524.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273639
2025-08-21T07:32:05.077Z,1755761525.077 [DAT](INFO): DAT read: 07:32:03.1699 LVL= 24944, 16449, 21106, 31411, AGC= 44, IDX= 408,-0.20,-1.865,-1.914, 3.138,-0.885, PHS=-0.877,-0.983,-2.304, RAW=  33.8,  46.9, CAL=  32.0,  51.8, ROT= 118.0, -51.8

2025-08-21T07:32:05.079Z,1755761525.079 [DAT](INFO): got valid direction response:
 07:32:03.1699 LVL= 24944, 16449, 21106, 31411, AGC= 44, IDX= 408,-0.20,-1.865,-1.914, 3.138,-0.885, PHS=-0.877,-0.983,-2.304, RAW=  33.8,  46.9, CAL=  32.0,  51.8, ROT= 118.0, -51.8

2025-08-21T07:32:05.080Z,1755761525.080 [DAT](INFO): DAT read: Bearing   4.4,  39.8 (Local)

2025-08-21T07:32:05.080Z,1755761525.080 [DAT](INFO): Local bearing/azimuth received:
 Bearing   4.4,  39.8 (Local)

2025-08-21T07:32:05.081Z,1755761525.081 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m  (Round-trip  2.7 ms) speed  0.0 m/s

2025-08-21T07:32:05.082Z,1755761525.082 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:32:05.083Z,1755761525.083 [DAT](INFO): direction in FSK: [-0.290325,0.546022,0.785857]
2025-08-21T07:32:05.083Z,1755761525.083 [DAT](INFO): publishing direction and range info
2025-08-21T07:32:32.278Z,1755761552.278 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-21T07:32:32.278Z,1755761552.278 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-21T07:32:32.288Z,1755761552.288 [DockingStepper](INFO): Changing to mode: 1
2025-08-21T07:32:32.812Z,1755761552.812 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:32:33.066Z,1755761553.066 [DAT](INFO): DAT read: user:2296>

2025-08-21T07:32:33.069Z,1755761553.069 [DAT](INFO): DAT read: Tx time:07:32:32.2620

2025-08-21T07:32:33.070Z,1755761553.070 [DAT](INFO): Ping request sent.
2025-08-21T07:32:33.070Z,1755761553.070 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:32:33.071Z,1755761553.071 [DAT](INFO): publishing transmit ping time
2025-08-21T07:32:33.072Z,1755761553.072 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:32:33.316Z,1755761553.316 [DAT](INFO): Requesting device enable set for address 50.
2025-08-21T07:32:35.332Z,1755761555.332 [DAT](INFO): DAT read: Rx Time:07:32:34.1245

2025-08-21T07:32:35.333Z,1755761555.333 [DAT](INFO): Rx dataTimestamp_ set to:1755761555.332428
2025-08-21T07:32:35.841Z,1755761555.841 [DAT](INFO): DAT read: 07:32:34.1245 LVL= 23152, 13201, 22194, 31251, AGC= 43, IDX= 504,-0.08,-0.666,-0.561,-1.410, 0.433, PHS=-0.998,-0.949,-1.887, RAW=  27.3,  56.0, CAL=  26.1,  59.7, ROT= 123.9, -59.7

2025-08-21T07:32:35.842Z,1755761555.842 [DAT](INFO): got valid direction response:
 07:32:34.1245 LVL= 23152, 13201, 22194, 31251, AGC= 43, IDX= 504,-0.08,-0.666,-0.561,-1.410, 0.433, PHS=-0.998,-0.949,-1.887, RAW=  27.3,  56.0, CAL=  26.1,  59.7, ROT= 123.9, -59.7

2025-08-21T07:32:35.842Z,1755761555.842 [DAT](INFO): DAT read: OK

2025-08-21T07:32:35.842Z,1755761555.842 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:32:35.843Z,1755761555.843 [DAT](INFO): DAT read: user:2297>

2025-08-21T07:32:35.844Z,1755761555.844 [DAT](INFO): DAT read: Tx time:07:32:35.2120

2025-08-21T07:32:35.844Z,1755761555.844 [DAT](INFO): Ping request sent.
2025-08-21T07:32:35.844Z,1755761555.844 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:32:35.844Z,1755761555.844 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-21T07:32:35.845Z,1755761555.845 [DAT](INFO): direction in FSK: [-0.281398,0.418764,0.863396]
2025-08-21T07:32:35.846Z,1755761555.846 [DAT](INFO): publishing transmit ping time
2025-08-21T07:32:35.849Z,1755761555.849 [DAT](INFO): publishing transmit ping time
2025-08-21T07:32:38.381Z,1755761558.381 [DAT](INFO): DAT read: Rx Time:07:32:37.0745

2025-08-21T07:32:38.382Z,1755761558.382 [DAT](INFO): Rx dataTimestamp_ set to:1755761558.381673
2025-08-21T07:32:38.889Z,1755761558.889 [DAT](INFO): DAT read: 07:32:37.0745 LVL= 21360, 13041, 22322, 29587, AGC= 44, IDX= 441,-0.12,-1.359,-1.305,-2.249,-0.294, PHS=-0.963,-0.966,-1.999, RAW=  30.1,  53.3, CAL=  28.7,  57.4, ROT= 121.3, -57.4

2025-08-21T07:32:38.890Z,1755761558.890 [DAT](INFO): got valid direction response:
 07:32:37.0745 LVL= 21360, 13041, 22322, 29587, AGC= 44, IDX= 441,-0.12,-1.359,-1.305,-2.249,-0.294, PHS=-0.963,-0.966,-1.999, RAW=  30.1,  53.3, CAL=  28.7,  57.4, ROT= 121.3, -57.4

2025-08-21T07:32:38.890Z,1755761558.890 [DAT](INFO): DAT read: OK

2025-08-21T07:32:38.890Z,1755761558.890 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:32:38.891Z,1755761558.891 [DAT](INFO): DAT read: user:2298>

2025-08-21T07:32:38.892Z,1755761558.892 [DAT](INFO): DAT read: Tx time:07:32:38.1619

2025-08-21T07:32:38.892Z,1755761558.892 [DAT](INFO): Ping request sent.
2025-08-21T07:32:38.892Z,1755761558.892 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:32:38.892Z,1755761558.892 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-21T07:32:38.893Z,1755761558.893 [DAT](INFO): direction in FSK: [-0.279902,0.460357,0.842452]
2025-08-21T07:32:38.894Z,1755761558.894 [DAT](INFO): publishing transmit ping time
2025-08-21T07:32:38.896Z,1755761558.896 [DAT](INFO): publishing transmit ping time
2025-08-21T07:32:41.404Z,1755761561.404 [DAT](INFO): DAT read: Rx Time:07:32:40.0245

2025-08-21T07:32:41.405Z,1755761561.405 [DAT](INFO): Rx dataTimestamp_ set to:1755761561.404419
2025-08-21T07:32:41.912Z,1755761561.912 [DAT](INFO): DAT read: 07:32:40.0245 LVL= 23648, 14273, 22850, 32755, AGC= 45, IDX= 442,-0.15,-1.429,-1.389,-2.441,-0.412, PHS=-0.916,-0.932,-2.073, RAW=  30.7,  50.3, CAL=  29.1,  54.7, ROT= 120.9, -54.7

2025-08-21T07:32:41.913Z,1755761561.913 [DAT](INFO): got valid direction response:
 07:32:40.0245 LVL= 23648, 14273, 22850, 32755, AGC= 45, IDX= 442,-0.15,-1.429,-1.389,-2.441,-0.412, PHS=-0.916,-0.932,-2.073, RAW=  30.7,  50.3, CAL=  29.1,  54.7, ROT= 120.9, -54.7

2025-08-21T07:32:41.913Z,1755761561.913 [DAT](INFO): DAT read: OK

2025-08-21T07:32:41.914Z,1755761561.914 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:32:41.914Z,1755761561.914 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-21T07:32:41.927Z,1755761561.927 [DAT](INFO): direction in FSK: [-0.296754,0.495839,0.816138]
2025-08-21T07:32:55.682Z,1755761575.682 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-32:WE,-3268,-32768,V
2025-08-21T07:33:32.514Z,1755761612.514 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-21T07:33:32.514Z,1755761612.514 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Reached max slide retries without successful comms or charge, attempt will be aborted
2025-08-21T07:33:32.514Z,1755761612.514 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-21T07:33:32.525Z,1755761612.525 [DockingStepper](INFO): Changing to mode: 4
2025-08-21T07:33:32.880Z,1755761612.880 [DAT](INFO): DAT read: user:2299>

2025-08-21T07:33:32.881Z,1755761612.881 [DAT](INFO): DAT read: Tx time:07:33:32.1117

2025-08-21T07:33:32.881Z,1755761612.881 [DAT](INFO): Ping request sent.
2025-08-21T07:33:32.881Z,1755761612.881 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:33:32.882Z,1755761612.882 [DAT](INFO): publishing transmit ping time
2025-08-21T07:33:32.884Z,1755761612.884 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-08-21T07:33:35.149Z,1755761615.149 [DAT](INFO): DAT read: Rx Time:07:33:33.9772

2025-08-21T07:33:35.150Z,1755761615.150 [DAT](INFO): Rx dataTimestamp_ set to:1755761615.149111
2025-08-21T07:33:35.912Z,1755761615.912 [DAT](INFO): DAT read: 07:33:33.9772 LVL= 25296, 15169, 22354, 26819, AGC= 44, IDX= 471, 0.26, 1.776, 1.693, 0.516, 2.731, PHS=-0.852,-0.993,-2.259, RAW=  35.2,  47.2, CAL=  33.4,  52.1, ROT= 116.6, -52.1

2025-08-21T07:33:35.914Z,1755761615.914 [DAT](INFO): got valid direction response:
 07:33:33.9772 LVL= 25296, 15169, 22354, 26819, AGC= 44, IDX= 471, 0.26, 1.776, 1.693, 0.516, 2.731, PHS=-0.852,-0.993,-2.259, RAW=  35.2,  47.2, CAL=  33.4,  52.1, ROT= 116.6, -52.1

2025-08-21T07:33:35.914Z,1755761615.914 [DAT](INFO): DAT read: OK

2025-08-21T07:33:35.914Z,1755761615.914 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:33:35.915Z,1755761615.915 [DAT](INFO): DAT read: user:2300>

2025-08-21T07:33:35.915Z,1755761615.915 [DAT](INFO): DAT read: Tx time:07:33:35.0617

2025-08-21T07:33:35.916Z,1755761615.916 [DAT](INFO): Ping request sent.
2025-08-21T07:33:35.916Z,1755761615.916 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:33:35.916Z,1755761615.916 [DAT](INFO): #Rx 5: Read direction message, but no range.
2025-08-21T07:33:35.917Z,1755761615.917 [DAT](INFO): direction in FSK: [-0.275052,0.549266,0.789084]
2025-08-21T07:33:35.917Z,1755761615.917 [DAT](INFO): publishing transmit ping time
2025-08-21T07:33:35.920Z,1755761615.920 [DAT](INFO): publishing transmit ping time
2025-08-21T07:33:38.180Z,1755761618.180 [DAT](INFO): DAT read: Rx Time:07:33:36.9273

2025-08-21T07:33:38.181Z,1755761618.181 [DAT](INFO): Rx dataTimestamp_ set to:1755761618.180543
2025-08-21T07:33:38.689Z,1755761618.689 [DAT](INFO): DAT read: 07:33:36.9273 LVL= 23600, 15761, 24018, 32307, AGC= 44, IDX= 440, 0.07, 1.814, 1.741, 0.608, 2.804, PHS=-0.888,-1.017,-2.240, RAW=  35.0,  48.6, CAL=  33.2,  53.3, ROT= 116.8, -53.3

2025-08-21T07:33:38.690Z,1755761618.690 [DAT](INFO): got valid direction response:
 07:33:36.9273 LVL= 23600, 15761, 24018, 32307, AGC= 44, IDX= 440, 0.07, 1.814, 1.741, 0.608, 2.804, PHS=-0.888,-1.017,-2.240, RAW=  35.0,  48.6, CAL=  33.2,  53.3, ROT= 116.8, -53.3

2025-08-21T07:33:38.690Z,1755761618.690 [DAT](INFO): DAT read: OK

2025-08-21T07:33:38.690Z,1755761618.690 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:33:38.691Z,1755761618.691 [DAT](INFO): DAT read: user:2301>

2025-08-21T07:33:38.691Z,1755761618.691 [DAT](INFO): DAT read: Tx time:07:33:38.0117

2025-08-21T07:33:38.692Z,1755761618.692 [DAT](INFO): Ping request sent.
2025-08-21T07:33:38.692Z,1755761618.692 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:33:38.692Z,1755761618.692 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-08-21T07:33:38.693Z,1755761618.693 [DAT](INFO): direction in FSK: [-0.269456,0.533432,0.801776]
2025-08-21T07:33:38.693Z,1755761618.693 [DAT](INFO): publishing transmit ping time
2025-08-21T07:33:38.696Z,1755761618.696 [DAT](INFO): publishing transmit ping time
2025-08-21T07:33:41.208Z,1755761621.208 [DAT](INFO): DAT read: Rx Time:07:33:39.8774

2025-08-21T07:33:41.209Z,1755761621.209 [DAT](INFO): Rx dataTimestamp_ set to:1755761621.208446
2025-08-21T07:33:41.719Z,1755761621.719 [DAT](INFO): DAT read: 07:33:39.8774 LVL= 25424, 15857, 22306, 30179, AGC= 44, IDX= 441,-0.04, 1.058, 0.980,-0.165, 2.055, PHS=-0.896,-1.030,-2.264, RAW=  35.1,  48.6, CAL=  33.3,  53.3, ROT= 116.7, -53.3

2025-08-21T07:33:41.720Z,1755761621.720 [DAT](INFO): got valid direction response:
 07:33:39.8774 LVL= 25424, 15857, 22306, 30179, AGC= 44, IDX= 441,-0.04, 1.058, 0.980,-0.165, 2.055, PHS=-0.896,-1.030,-2.264, RAW=  35.1,  48.6, CAL=  33.3,  53.3, ROT= 116.7, -53.3

2025-08-21T07:33:41.720Z,1755761621.720 [DAT](INFO): DAT read: OK

2025-08-21T07:33:41.721Z,1755761621.721 [DAT](INFO): unknown deviceResponse_: OK

2025-08-21T07:33:41.721Z,1755761621.721 [DAT](INFO): #Rx 7: Read direction message, but no range.
2025-08-21T07:33:41.722Z,1755761621.722 [DAT](INFO): direction in FSK: [-0.268524,0.533901,0.801776]
2025-08-21T07:34:01.576Z,1755761641.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-21T07:34:01.656Z,1755761641.656 [DAT](DEBUG): Acoustic response timeout
2025-08-21T07:34:01.656Z,1755761641.656 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-21T07:34:01.908Z,1755761641.908 [DAT](INFO): DAT read: user:2302>

2025-08-21T07:34:01.909Z,1755761641.909 [DAT](INFO): DAT read: Tx time:07:34:01.1126

2025-08-21T07:34:01.909Z,1755761641.909 [DAT](INFO): Ping request sent.
2025-08-21T07:34:01.909Z,1755761641.909 [DAT](INFO): transmitted an acoustic signal
2025-08-21T07:34:01.909Z,1755761641.909 [DAT](INFO): publishing transmit ping time
2025-08-21T07:34:01.910Z,1755761641.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-08-21T07:34:02.161Z,1755761642.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251355
2025-08-21T07:34:02.415Z,1755761642.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505441
2025-08-21T07:34:02.664Z,1755761642.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754881
2025-08-21T07:34:02.916Z,1755761642.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006969
2025-08-21T07:34:03.169Z,1755761643.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259464
2025-08-21T07:34:03.172Z,1755761643.172 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-08-21T07:34:03.172Z,1755761643.172 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-08-21T07:34:03.173Z,1755761643.173 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-08-21T07:34:03.173Z,1755761643.173 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-21T07:34:03.173Z,1755761643.173 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-08-21T07:34:03.216Z,1755761643.216 [DockingStepper](INFO): Changing to mode: 2
2025-08-21T07:34:03.423Z,1755761643.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513205
2025-08-21T07:34:03.585Z,1755761643.585 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-08-21T07:34:03.586Z,1755761643.586 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-21T07:34:03.586Z,1755761643.586 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-08-21T07:34:03.586Z,1755761643.586 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-08-21T07:34:03.587Z,1755761643.587 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-08-21T07:34:03.587Z,1755761643.587 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-08-21T07:34:03.672Z,1755761643.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763017
2025-08-21T07:34:03.924Z,1755761643.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014924
2025-08-21T07:34:03.969Z,1755761643.969 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-08-21T07:34:03.969Z,1755761643.969 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-08-21T07:34:03.969Z,1755761643.969 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-08-21T07:34:03.969Z,1755761643.969 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-08-21T07:34:03.969Z,1755761643.969 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-21T07:34:03.969Z,1755761643.969 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-08-21T07:34:03.969Z,1755761643.969 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-08-21T07:34:03.969Z,1755761643.969 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-08-21T07:34:03.969Z,1755761643.969 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-08-21T07:34:03.970Z,1755761643.970 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-08-21T07:34:04.177Z,1755761644.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267547
2025-08-21T07:34:04.374Z,1755761644.374 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-08-21T07:34:04.374Z,1755761644.374 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-21T07:34:04.374Z,1755761644.374 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-08-21T07:34:04.374Z,1755761644.374 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-08-21T07:34:04.375Z,1755761644.375 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-08-21T07:34:04.375Z,1755761644.375 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-08-21T07:34:04.375Z,1755761644.375 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-08-21T07:34:04.375Z,1755761644.375 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-08-21T07:34:04.375Z,1755761644.375 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-08-21T07:34:04.375Z,1755761644.375 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-21T07:34:04.375Z,1755761644.375 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-08-21T07:34:04.375Z,1755761644.375 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-08-21T07:34:04.376Z,1755761644.376 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-08-21T07:34:04.376Z,1755761644.376 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-08-21T07:34:04.376Z,1755761644.376 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-08-21T07:34:04.376Z,1755761644.376 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-08-21T07:34:04.376Z,1755761644.376 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-08-21T07:34:04.431Z,1755761644.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521473
2025-08-21T07:34:04.680Z,1755761644.680 [DAT](INFO): DAT read: Rx Time:07:34:03.5193

2025-08-21T07:34:04.681Z,1755761644.681 [DAT](INFO): Rx dataTimestamp_ set to:1755761644.680412
2025-08-21T07:34:04.681Z,1755761644.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771971
2025-08-21T07:34:04.813Z,1755761644.813 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-08-21T07:34:04.813Z,1755761644.813 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-08-21T07:34:04.813Z,1755761644.813 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-08-21T07:34:04.813Z,1755761644.813 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-08-21T07:34:04.814Z,1755761644.814 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-21T07:34:04.814Z,1755761644.814 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-08-21T07:34:04.814Z,1755761644.814 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-08-21T07:34:04.814Z,1755761644.814 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-08-21T07:34:04.814Z,1755761644.814 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-08-21T07:34:04.814Z,1755761644.814 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-08-21T07:34:04.814Z,1755761644.814 [lineCaptureHoming:Lap:Docked] Stopped
2025-08-21T07:34:04.814Z,1755761644.814 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-08-21T07:34:04.814Z,1755761644.814 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-08-21T07:34:04.814Z,1755761644.814 [lineCaptureHoming:Lap] Stopped
2025-08-21T07:34:04.814Z,1755761644.814 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-08-21T07:34:04.819Z,1755761644.819 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-08-21T07:34:04.819Z,1755761644.819 [MissionManager](INFO): lineCaptureHoming is completed.
2025-08-21T07:34:04.820Z,1755761644.820 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-08-21T07:34:04.820Z,1755761644.820 [lineCaptureHoming] Stopped
2025-08-21T07:34:04.820Z,1755761644.820 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-08-21T07:34:04.820Z,1755761644.820 [lineCaptureHoming:Science] Stopped
2025-08-21T07:34:04.820Z,1755761644.820 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-08-21T07:34:04.820Z,1755761644.820 [lineCaptureHoming:Science:B] Stopped
2025-08-21T07:34:04.820Z,1755761644.820 [lineCaptureHoming:Science:C] Stopped
2025-08-21T07:34:04.820Z,1755761644.820 [lineCaptureHoming:Science:E] Stopped
2025-08-21T07:34:04.820Z,1755761644.820 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-08-21T07:34:04.820Z,1755761644.820 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-08-21T07:34:04.820Z,1755761644.820 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-08-21T07:34:04.821Z,1755761644.821 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-08-21T07:34:04.821Z,1755761644.821 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-08-21T07:34:04.821Z,1755761644.821 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-21T07:34:04.821Z,1755761644.821 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-21T07:34:04.821Z,1755761644.821 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-21T07:34:04.821Z,1755761644.821 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-21T07:34:04.821Z,1755761644.821 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-21T07:34:04.821Z,1755761644.821 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-21T07:34:04.821Z,1755761644.821 [lineCaptureHoming:MicromodemComms] Stopped
2025-08-21T07:34:04.821Z,1755761644.821 [lineCaptureHoming:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms
2025-08-21T07:34:04.821Z,1755761644.821 [lineCaptureHoming:MicromodemComms:CheckIn] Stopped
2025-08-21T07:34:04.821Z,1755761644.821 [lineCaptureHoming:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureHoming:MicromodemComms:CheckIn
2025-08-21T07:34:04.822Z,1755761644.822 [lineCaptureHoming:MicromodemComms:CheckIn:A] Stopped
2025-08-21T07:34:04.822Z,1755761644.822 [lineCaptureHoming:TrackAC.] Stopped
2025-08-21T07:34:04.822Z,1755761644.822 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-21T07:34:04.922Z,1755761644.922 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/OnDock.tl
2025-08-21T07:34:04.933Z,1755761644.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023363
2025-08-21T07:34:05.132Z,1755761645.132 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-08-21T07:34:05.133Z,1755761645.133 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-08-21T07:34:05.138Z,1755761645.138 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-08-21T07:34:05.188Z,1755761645.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278276
2025-08-21T07:34:05.252Z,1755761645.252 [WetLabsBB2FL](INFO): Powering down
2025-08-21T07:34:05.524Z,1755761645.524 [DAT](INFO): DAT read: 07:34:03.5193 LVL= 28752, 15473, 26914, 27619, AGC= 45, IDX= 343, 0.39,-1.508,-1.611,-2.742,-0.501, PHS=-0.905,-1.065,-2.285, RAW=  36.1,  49.0, CAL=  34.3,  53.7, ROT= 115.7, -53.7

2025-08-21T07:34:05.525Z,1755761645.525 [DAT](INFO): got valid direction response:
 07:34:03.5193 LVL= 28752, 15473, 26914, 27619, AGC= 45, IDX= 343, 0.39,-1.508,-1.611,-2.742,-0.501, PHS=-0.905,-1.065,-2.285, RAW=  36.1,  49.0, CAL=  34.3,  53.7, ROT= 115.7, -53.7

2025-08-21T07:34:05.526Z,1755761645.526 [DAT](INFO): DAT read: Bearing   0.7,  38.1 (Local)

2025-08-21T07:34:05.526Z,1755761645.526 [DAT](INFO): Local bearing/azimuth received:
 Bearing   0.7,  38.1 (Local)

2025-08-21T07:34:05.540Z,1755761645.540 [DAT](INFO): DAT read: Range 11 to 50 : 1.9 m  (Round-trip  2.6 ms) speed  0.0 m/s

2025-08-21T07:34:05.540Z,1755761645.540 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-21T07:34:05.541Z,1755761645.541 [DAT](INFO): direction in FSK: [-0.256732,0.533449,0.805928]
2025-08-21T07:34:05.542Z,1755761645.542 [DAT](INFO): publishing direction and range info
2025-08-21T07:34:10.026Z,1755761650.026 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-08-21T07:34:10.032Z,1755761650.032 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-08-21T07:34:10.034Z,1755761650.034 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-08-21T07:34:10.037Z,1755761650.037 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-08-21T07:34:10.039Z,1755761650.039 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-08-21T07:34:10.042Z,1755761650.042 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-08-21T07:34:10.044Z,1755761650.044 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-08-21T07:34:10.047Z,1755761650.047 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-08-21T07:34:10.049Z,1755761650.049 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-08-21T07:34:10.052Z,1755761650.052 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-08-21T07:34:10.054Z,1755761650.054 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-08-21T07:34:10.057Z,1755761650.057 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-08-21T07:34:10.059Z,1755761650.059 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-08-21T07:34:10.061Z,1755761650.061 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-08-21T07:34:10.061Z,1755761650.061 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-21T07:34:10.062Z,1755761650.062 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-21T07:34:10.064Z,1755761650.064 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-21T07:34:10.259Z,1755761650.259 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-08-21T07:34:10.271Z,1755761650.271 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-21T07:34:10.285Z,1755761650.285 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-21T07:34:10.292Z,1755761650.292 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-21T07:34:10.317Z,1755761650.317 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-21T07:34:10.318Z,1755761650.318 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-21T07:34:10.352Z,1755761650.352 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-21T07:34:10.362Z,1755761650.362 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-21T07:34:10.373Z,1755761650.373 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-08-21T07:34:10.373Z,1755761650.373 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-08-21T07:34:10.374Z,1755761650.374 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-08-21T07:34:10.404Z,1755761650.404 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-08-21T07:34:10.407Z,1755761650.407 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-08-21T07:34:10.409Z,1755761650.409 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-08-21T07:34:10.412Z,1755761650.412 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-08-21T07:34:10.412Z,1755761650.412 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-08-21T07:34:10.413Z,1755761650.413 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-08-21T07:34:10.606Z,1755761650.606 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-08-21T07:34:10.610Z,1755761650.610 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-08-21T07:34:10.640Z,1755761650.640 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-08-21T07:34:10.642Z,1755761650.642 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-08-21T07:34:10.664Z,1755761650.664 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-08-21T07:34:10.667Z,1755761650.667 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-08-21T07:34:10.694Z,1755761650.694 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-08-21T07:34:10.706Z,1755761650.706 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-08-21T07:34:10.720Z,1755761650.720 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-21T07:34:10.720Z,1755761650.720 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-21T07:34:10.734Z,1755761650.734 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-21T07:34:14.976Z,1755761654.976 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-08-21T07:34:15.018Z,1755761655.018 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-08-21T07:34:15.020Z,1755761655.020 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-08-21T07:34:15.022Z,1755761655.022 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-08-21T07:34:15.025Z,1755761655.025 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-08-21T07:34:15.027Z,1755761655.027 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-08-21T07:34:15.029Z,1755761655.029 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-08-21T07:34:15.030Z,1755761655.030 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-08-21T07:34:15.033Z,1755761655.033 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-08-21T07:34:15.035Z,1755761655.035 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-21T07:34:15.037Z,1755761655.037 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-21T07:34:15.040Z,1755761655.040 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-08-21T07:34:15.042Z,1755761655.042 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-08-21T07:34:15.108Z,1755761655.108 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-08-21T07:34:15.143Z,1755761655.143 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-08-21T07:34:15.145Z,1755761655.145 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-21T07:34:15.151Z,1755761655.151 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-21T07:34:15.153Z,1755761655.153 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-21T07:34:15.160Z,1755761655.160 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-21T07:34:15.163Z,1755761655.163 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-21T07:34:15.191Z,1755761655.191 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-21T07:34:15.194Z,1755761655.194 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-21T07:34:15.208Z,1755761655.208 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-21T07:34:15.210Z,1755761655.210 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-21T07:34:15.225Z,1755761655.225 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-08-21T07:34:15.236Z,1755761655.236 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-08-21T07:34:15.238Z,1755761655.238 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-08-21T07:34:15.245Z,1755761655.245 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-08-21T07:34:15.252Z,1755761655.252 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-21T07:34:15.254Z,1755761655.254 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-21T07:34:15.262Z,1755761655.262 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-08-21T07:34:15.272Z,1755761655.272 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-08-21T07:34:15.274Z,1755761655.274 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-08-21T07:34:15.281Z,1755761655.281 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-08-21T07:34:15.287Z,1755761655.287 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-08-21T07:34:15.290Z,1755761655.290 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-21T07:34:15.292Z,1755761655.292 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-08-21T07:34:15.294Z,1755761655.294 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-08-21T07:34:15.301Z,1755761655.301 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-21T07:34:15.311Z,1755761655.311 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-08-21T07:34:15.313Z,1755761655.313 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-08-21T07:34:15.320Z,1755761655.320 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-08-21T07:34:15.322Z,1755761655.322 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-08-21T07:34:15.340Z,1755761655.340 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-08-21T07:34:15.342Z,1755761655.342 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-21T07:34:15.345Z,1755761655.345 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-21T07:34:15.364Z,1755761655.364 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-21T07:34:15.366Z,1755761655.366 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-21T07:34:15.372Z,1755761655.372 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-08-21T07:34:15.375Z,1755761655.375 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-08-21T07:34:15.381Z,1755761655.381 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-08-21T07:34:15.388Z,1755761655.388 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-08-21T07:34:15.390Z,1755761655.390 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-08-21T07:34:15.397Z,1755761655.397 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-08-21T07:34:15.407Z,1755761655.407 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-08-21T07:34:15.410Z,1755761655.410 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-08-21T07:34:15.417Z,1755761655.417 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-08-21T07:34:15.423Z,1755761655.423 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-08-21T07:34:15.426Z,1755761655.426 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-08-21T07:34:15.428Z,1755761655.428 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-08-21T07:34:15.431Z,1755761655.431 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-08-21T07:34:15.449Z,1755761655.449 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-08-21T07:34:15.500Z,1755761655.500 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-08-21T07:34:15.502Z,1755761655.502 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-08-21T07:34:15.509Z,1755761655.509 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-08-21T07:34:15.524Z,1755761655.524 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-08-21T07:34:15.526Z,1755761655.526 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-08-21T07:34:15.537Z,1755761655.537 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-08-21T07:34:15.539Z,1755761655.539 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-08-21T07:34:15.545Z,1755761655.545 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-08-21T07:34:15.590Z,1755761655.590 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-08-21T07:34:15.648Z,1755761655.648 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-08-21T07:34:15.650Z,1755761655.650 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-08-21T07:34:15.657Z,1755761655.657 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-08-21T07:34:15.672Z,1755761655.672 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-08-21T07:34:15.674Z,1755761655.674 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-08-21T07:34:15.692Z,1755761655.692 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-08-21T07:34:15.694Z,1755761655.694 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-21T07:34:15.701Z,1755761655.701 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-21T07:34:15.712Z,1755761655.712 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-21T07:34:15.714Z,1755761655.714 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-21T07:34:15.719Z,1755761655.719 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-21T07:34:15.733Z,1755761655.733 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-21T07:34:15.740Z,1755761655.740 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-21T07:34:15.742Z,1755761655.742 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-21T07:34:15.749Z,1755761655.749 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-21T07:34:15.759Z,1755761655.759 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-21T07:34:15.762Z,1755761655.762 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-21T07:34:15.766Z,1755761655.766 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-21T07:34:15.777Z,1755761655.777 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-21T07:34:15.784Z,1755761655.784 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-21T07:34:15.786Z,1755761655.786 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-21T07:34:15.801Z,1755761655.801 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-21T07:34:15.807Z,1755761655.807 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-21T07:34:15.810Z,1755761655.810 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-21T07:34:15.818Z,1755761655.818 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-21T07:34:15.832Z,1755761655.832 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-21T07:34:15.835Z,1755761655.835 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-21T07:34:15.842Z,1755761655.842 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-21T07:34:15.845Z,1755761655.845 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-21T07:34:15.856Z,1755761655.856 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-21T07:34:15.858Z,1755761655.858 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-21T07:34:15.901Z,1755761655.901 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-21T07:34:15.907Z,1755761655.907 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-21T07:34:15.910Z,1755761655.910 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-21T07:34:15.921Z,1755761655.921 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-21T07:34:15.923Z,1755761655.923 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-21T07:34:15.938Z,1755761655.938 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-21T07:34:15.952Z,1755761655.952 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-21T07:34:15.955Z,1755761655.955 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-21T07:34:15.965Z,1755761655.965 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-21T07:34:15.975Z,1755761655.975 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-21T07:34:16.002Z,1755761656.002 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-21T07:34:16.021Z,1755761656.021 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-21T07:34:16.032Z,1755761656.032 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-21T07:34:16.034Z,1755761656.034 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-21T07:34:16.046Z,1755761656.046 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-21T07:34:16.058Z,1755761656.058 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-08-21T07:34:16.065Z,1755761656.065 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-08-21T07:34:16.073Z,1755761656.073 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-08-21T07:34:16.079Z,1755761656.079 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-08-21T07:34:16.094Z,1755761656.094 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-08-21T07:34:16.107Z,1755761656.107 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-08-21T07:34:16.118Z,1755761656.118 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-08-21T07:34:16.125Z,1755761656.125 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-08-21T07:34:16.131Z,1755761656.131 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-08-21T07:34:16.134Z,1755761656.134 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-08-21T07:34:16.140Z,1755761656.140 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-08-21T07:34:16.143Z,1755761656.143 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-08-21T07:34:16.149Z,1755761656.149 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-08-21T07:34:16.160Z,1755761656.160 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-08-21T07:34:16.162Z,1755761656.162 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-08-21T07:34:16.180Z,1755761656.180 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-08-21T07:34:16.182Z,1755761656.182 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-08-21T07:34:16.236Z,1755761656.236 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T07:34:16.303Z,1755761656.303 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T07:34:16.392Z,1755761656.392 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-21T07:34:16.440Z,1755761656.440 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T07:34:16.475Z,1755761656.475 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T07:34:16.494Z,1755761656.494 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-21T07:34:16.530Z,1755761656.530 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T07:34:16.554Z,1755761656.554 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T07:34:16.606Z,1755761656.606 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-21T07:34:16.668Z,1755761656.668 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T07:34:16.748Z,1755761656.748 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T07:34:16.834Z,1755761656.834 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T07:34:16.882Z,1755761656.882 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T07:34:16.933Z,1755761656.933 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T07:34:16.957Z,1755761656.957 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T07:34:17.005Z,1755761657.005 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-21T07:34:17.035Z,1755761657.035 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-21T07:34:17.067Z,1755761657.067 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-21T07:34:17.124Z,1755761657.124 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-08-21T07:34:17.131Z,1755761657.131 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-08-21T07:34:17.133Z,1755761657.133 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-08-21T07:34:17.134Z,1755761657.134 [OnDock:N.Docked](DEBUG): Construct.
2025-08-21T07:34:17.134Z,1755761657.134 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-21T07:34:17.210Z,1755761657.210 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-08-21T07:34:17.210Z,1755761657.210 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-21T07:34:17.273Z,1755761657.273 [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
    }
  }
}


2025-08-21T07:34:17.275Z,1755761657.275 [CommandExec](IMPORTANT): Running ./Missions/Engineering/OnDock.tl
2025-08-21T07:34:17.521Z,1755761657.521 [MissionManager](IMPORTANT): Started mission OnDock
2025-08-21T07:34:17.521Z,1755761657.521 [OnDock] Running Loop=1
2025-08-21T07:34:17.521Z,1755761657.521 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-08-21T07:34:17.521Z,1755761657.521 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-21T07:34:17.522Z,1755761657.522 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-08-21T07:34:17.522Z,1755761657.522 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-21T07:34:17.522Z,1755761657.522 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-21T07:34:17.522Z,1755761657.522 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-21T07:34:17.522Z,1755761657.522 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-21T07:34:17.522Z,1755761657.522 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-21T07:34:17.522Z,1755761657.522 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-21T07:34:17.522Z,1755761657.522 [OnDock:BackseatDriver] Running Loop=1
2025-08-21T07:34:17.522Z,1755761657.522 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-08-21T07:34:17.522Z,1755761657.522 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-08-21T07:34:17.523Z,1755761657.523 [OnDock:PowerOnly] Running Loop=1
2025-08-21T07:34:17.523Z,1755761657.523 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-08-21T07:34:17.523Z,1755761657.523 [OnDock:PowerOnly:A] Running Loop=1
2025-08-21T07:34:17.523Z,1755761657.523 [OnDock:PowerOnly:B] Running Loop=1
2025-08-21T07:34:17.523Z,1755761657.523 [OnDock:PowerOnly:C] Running Loop=1
2025-08-21T07:34:17.539Z,1755761657.539 [OnDock:PowerOnly:D] Running Loop=1
2025-08-21T07:34:17.539Z,1755761657.539 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-08-21T07:34:17.539Z,1755761657.539 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-08-21T07:34:17.539Z,1755761657.539 [OnDock:dataRead] Running Loop=1
2025-08-21T07:34:17.540Z,1755761657.540 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-08-21T07:34:17.540Z,1755761657.540 [OnDock:dataRead:A] Running Loop=1
2025-08-21T07:34:17.540Z,1755761657.540 [OnDock:science] Running Loop=1
2025-08-21T07:34:17.540Z,1755761657.540 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-08-21T07:34:17.540Z,1755761657.540 [OnDock:science:Science] Running Loop=1
2025-08-21T07:34:17.540Z,1755761657.540 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-08-21T07:34:17.540Z,1755761657.540 [OnDock:science:Science:A] Running Loop=1
2025-08-21T07:34:17.540Z,1755761657.540 [OnDock:science:Science:B] Running Loop=1
2025-08-21T07:34:17.540Z,1755761657.540 [OnDock:science:Science:C] Running Loop=1
2025-08-21T07:34:17.540Z,1755761657.540 [OnDock:science:Science:D] Running Loop=1
2025-08-21T07:34:17.540Z,1755761657.540 [OnDock:science:Science:E] Running Loop=1
2025-08-21T07:34:17.540Z,1755761657.540 [OnDock:science:Science:F] Running Loop=1
2025-08-21T07:34:17.541Z,1755761657.541 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-08-21T07:34:17.541Z,1755761657.541 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-08-21T07:34:17.541Z,1755761657.541 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-08-21T07:34:17.541Z,1755761657.541 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-08-21T07:34:17.541Z,1755761657.541 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-08-21T07:34:17.541Z,1755761657.541 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-08-21T07:34:17.541Z,1755761657.541 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-08-21T07:34:17.541Z,1755761657.541 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-08-21T07:34:17.541Z,1755761657.541 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-08-21T07:34:17.541Z,1755761657.541 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-21T07:34:17.542Z,1755761657.542 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-21T07:34:17.542Z,1755761657.542 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-08-21T07:34:17.542Z,1755761657.542 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-08-21T07:34:17.542Z,1755761657.542 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-08-21T07:34:17.542Z,1755761657.542 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-08-21T07:34:17.542Z,1755761657.542 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-08-21T07:34:17.542Z,1755761657.542 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-08-21T07:34:17.543Z,1755761657.543 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-08-21T07:34:17.543Z,1755761657.543 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-08-21T07:34:17.543Z,1755761657.543 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-21T07:34:17.543Z,1755761657.543 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-21T07:34:17.547Z,1755761657.547 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-08-21T07:34:17.548Z,1755761657.548 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-08-21T07:34:17.548Z,1755761657.548 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-21T07:34:17.548Z,1755761657.548 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-08-21T07:34:17.548Z,1755761657.548 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-08-21T07:34:17.548Z,1755761657.548 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-21T07:34:17.548Z,1755761657.548 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-08-21T07:34:17.548Z,1755761657.548 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-08-21T07:34:17.548Z,1755761657.548 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-21T07:34:17.548Z,1755761657.548 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-21T07:34:17.549Z,1755761657.549 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-21T07:34:17.549Z,1755761657.549 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-21T07:34:17.549Z,1755761657.549 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-21T07:34:17.549Z,1755761657.549 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-21T07:34:17.549Z,1755761657.549 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-21T07:34:17.549Z,1755761657.549 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-21T07:34:17.549Z,1755761657.549 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-21T07:34:17.550Z,1755761657.550 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-21T07:34:17.550Z,1755761657.550 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-21T07:34:17.550Z,1755761657.550 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-21T07:34:17.550Z,1755761657.550 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-21T07:34:17.550Z,1755761657.550 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-21T07:34:17.550Z,1755761657.550 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-21T07:34:17.550Z,1755761657.550 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-21T07:34:17.550Z,1755761657.550 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-21T07:34:17.550Z,1755761657.550 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-21T07:34:17.550Z,1755761657.550 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-21T07:34:17.551Z,1755761657.551 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-21T07:34:17.551Z,1755761657.551 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-21T07:34:17.551Z,1755761657.551 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-21T07:34:17.555Z,1755761657.555 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-21T07:34:17.556Z,1755761657.556 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-21T07:34:17.556Z,1755761657.556 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-21T07:34:17.556Z,1755761657.556 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-21T07:34:17.556Z,1755761657.556 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-08-21T07:34:17.556Z,1755761657.556 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-08-21T07:34:17.556Z,1755761657.556 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-21T07:34:17.556Z,1755761657.556 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-21T07:34:17.557Z,1755761657.557 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-08-21T07:34:17.557Z,1755761657.557 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-08-21T07:34:17.557Z,1755761657.557 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-08-21T07:34:17.557Z,1755761657.557 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-21T07:34:17.557Z,1755761657.557 [OnDock:J.] Running Loop=1
2025-08-21T07:34:17.557Z,1755761657.557 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-08-21T07:34:17.557Z,1755761657.557 [OnDock:PeriodicCheck] Running Loop=1
2025-08-21T07:34:17.557Z,1755761657.557 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-08-21T07:34:17.557Z,1755761657.557 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-08-21T07:34:17.557Z,1755761657.557 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-08-21T07:34:17.558Z,1755761657.558 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-08-21T07:34:17.558Z,1755761657.558 [OnDock:B] Running Loop=1
2025-08-21T07:34:17.558Z,1755761657.558 [OnDock:PeriodicCheck] Running Loop=1
2025-08-21T07:34:17.558Z,1755761657.558 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-08-21T07:34:17.559Z,1755761657.559 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-08-21T07:34:17.559Z,1755761657.559 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-08-21T07:34:17.559Z,1755761657.559 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-08-21T07:34:17.559Z,1755761657.559 [OnDock:J.] Running Loop=1
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:J.](ERROR): Failed to read sound speed
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:science] Stopped
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:science:Science] Stopped
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:science:Science:A] Stopped
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:science:Science:B] Stopped
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:science:Science:C] Stopped
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:science:Science:D] Stopped
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:science:Science:E] Stopped
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:science:Science:F] Stopped
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:science:Science:Read_Oil] Stopped
2025-08-21T07:34:17.564Z,1755761657.564 [OnDock:science:Science:OceanCurrent] Stopped
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:PeakDetectChl] Stopped
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-21T07:34:17.565Z,1755761657.565 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:PeakDetectOil] Stopped
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-08-21T07:34:17.566Z,1755761657.566 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-08-21T07:34:17.567Z,1755761657.567 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-08-21T07:34:17.567Z,1755761657.567 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-08-21T07:34:17.567Z,1755761657.567 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-08-21T07:34:17.567Z,1755761657.567 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-21T07:34:17.567Z,1755761657.567 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-21T07:34:17.567Z,1755761657.567 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-21T07:34:17.571Z,1755761657.571 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-21T07:34:17.571Z,1755761657.571 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-21T07:34:17.571Z,1755761657.571 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-21T07:34:17.572Z,1755761657.572 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-21T07:34:17.573Z,1755761657.573 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-21T07:34:17.573Z,1755761657.573 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-21T07:34:17.573Z,1755761657.573 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-21T07:34:17.573Z,1755761657.573 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-21T07:34:17.573Z,1755761657.573 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-21T07:34:17.573Z,1755761657.573 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-21T07:34:17.573Z,1755761657.573 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-21T07:34:17.573Z,1755761657.573 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-08-21T07:34:17.573Z,1755761657.573 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-08-21T07:34:17.573Z,1755761657.573 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-21T07:34:17.573Z,1755761657.573 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-21T07:34:17.573Z,1755761657.573 [OnDock:dataRead] Running Loop=1
2025-08-21T07:34:17.574Z,1755761657.574 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-21T07:34:17.574Z,1755761657.574 [OnDock:PowerOnly] Running Loop=1
2025-08-21T07:34:17.575Z,1755761657.575 [OnDock:PowerOnly:D] Stopped
2025-08-21T07:34:17.575Z,1755761657.575 [OnDock:PowerOnly:C] Stopped
2025-08-21T07:34:17.575Z,1755761657.575 [OnDock:PowerOnly:B] Stopped
2025-08-21T07:34:17.575Z,1755761657.575 [OnDock:PowerOnly:A] Stopped
2025-08-21T07:34:17.575Z,1755761657.575 [OnDock:BackseatDriver] Running Loop=1
2025-08-21T07:34:17.579Z,1755761657.579 [OnDock:B] Stopped
2025-08-21T07:34:17.580Z,1755761657.580 [OnDock:C] Running Loop=1
2025-08-21T07:34:17.580Z,1755761657.580 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-21T07:34:17.580Z,1755761657.580 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-21T07:34:17.580Z,1755761657.580 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-21T07:34:17.580Z,1755761657.580 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-21T07:34:17.605Z,1755761657.605 [CommandExec](IMPORTANT): got command ! ifconfig
2025-08-21T07:34:17.977Z,1755761657.977 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:37  
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:21970 errors:0 dropped:0 overruns:0 frame:0
            TX packets:35088 errors:0 dropped:0 overruns:0 carrier:0
            collisions:101 txqueuelen:1000 
            RX bytes:3737546 (3.5 Mb)  TX bytes:34596512 (32.9 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:1432 errors:0 dropped:0 overruns:0 frame:0
            TX packets:1432 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:125322 (122.3 Kb)  TX bytes:125322 (122.3 Kb)
  
  
2025-08-21T07:34:18.388Z,1755761658.388 [OnDock:C] Stopped
2025-08-21T07:34:18.388Z,1755761658.388 [OnDock:D] Running Loop=1
2025-08-21T07:34:18.750Z,1755761658.750 [OnDock:D] Stopped
2025-08-21T07:34:18.750Z,1755761658.750 [OnDock:E] Running Loop=1
2025-08-21T07:34:19.113Z,1755761659.113 [OnDock:E] Stopped
2025-08-21T07:34:19.113Z,1755761659.113 [OnDock:K] Running Loop=1
2025-08-21T07:34:19.525Z,1755761659.525 [OnDock:K](IMPORTANT): Restarting logs
2025-08-21T07:34:19.525Z,1755761659.525 [OnDock:K] Stopped
2025-08-21T07:34:19.525Z,1755761659.525 [OnDock:L.Execute] Running Loop=1